蓝桥ROS机器人之古月居ROS入门21讲

zhangrelay
发布于 2022-05-01 10:26:03
6210
发布于 2022-05-01 10:26:03
文章被收录于专栏：机器人课程与技术机器人课程与技术
ROS1入门经典课程，在其官网和B站等都有详细介绍和视频讲解。
古月居校园行
直接在蓝桥云课下载就可以学习和使用啦。
文档部分：
源码等：
将源码复制到demo_ws/src下，并编译后使用：
catkin build
ros1 kinetic(1) or ros2 ardent(2)?
1
shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/ros_book.git
\u6b63\u514b\u9686\u5230 'ros_book'...
remote: Enumerating objects: 15, done.
remote: Counting objects: 100% (15/15), done.
remote: Compressing objects: 100% (15/15), done.
remote: Total 15 (delta 3), reused 0 (delta 0), pack-reused 0
\u5c55\u5f00\u5bf9\u8c61\u4e2d: 100% (15/15), \u5b8c\u6210.
\u68c0\u67e5\u8fde\u63a5... \u5b8c\u6210\u3002
shiyanlou:Code/ $ unzip ros_book/ros_21_tutorials-master.zip         [13:45:05]
Archive:  ros_book/ros_21_tutorials-master.zip
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shiyanlou:Code/ $ cd demo_ws                                         [13:45:43]
shiyanlou:demo_ws/ $ catkin build                                    [13:46:49]
-----------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/kinetic
Workspace:                   /home/shiyanlou/Code/demo_ws
-----------------------------------------------------------------
Build Space:        [exists] /home/shiyanlou/Code/demo_ws/build
Devel Space:        [exists] /home/shiyanlou/Code/demo_ws/devel
Install Space:      [unused] /home/shiyanlou/Code/demo_ws/install
Log Space:         [missing] /home/shiyanlou/Code/demo_ws/logs
Source Space:       [exists] /home/shiyanlou/Code/demo_ws/src
DESTDIR:            [unused] None
-----------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
-----------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------------
[build] Found '5' packages in 0.0 seconds.                                     
[build] Updating package table.                                                
Starting  >>> catkin_tools_prebuild                                            
Finished  <<< catkin_tools_prebuild                [ 2.3 seconds ]             
Starting  >>> learning_launch                                                  
Starting  >>> learning_parameter                                               
Starting  >>> learning_service                                                 
Starting  >>> learning_tf                                                      
Finished  <<< learning_launch                      [ 10.8 seconds ]            
Starting  >>> learning_topic                                                   
Finished  <<< learning_parameter                   [ 24.6 seconds ]            
Finished  <<< learning_tf                          [ 47.4 seconds ]            
Finished  <<< learning_service                     [ 56.3 seconds ]            
Finished  <<< learning_topic                       [ 46.4 seconds ]            
[build] Summary: All 6 packages succeeded!                                     
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 59.6 seconds total.                                           
[build] Note: Workspace packages have changed, please re-source setup files to use them.
Exception ignored in: <bound method BaseEventLoop.__del__ of <_UnixSelectorEventLoop running=False closed=True debug=False>>
Traceback (most recent call last):
  File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in __del__
  File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close
  File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler
  File "/usr/lib/python3.5/signal.py", line 47, in signal
TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object
shiyanlou:demo_ws/ $ source devel/setup.bash                         [13:47:55]
devel/setup.bash:.:8: \u6ca1\u6709\u90a3\u4e2a\u6587\u4ef6\u6216\u76ee\u5f55: /home/shiyanlou/Code/demo_ws/setup.sh
shiyanlou:demo_ws/ $ source devel/setup.zsh                          [13:48:31]
shiyanlou:demo_ws/ $ roslaunch learning_launch start_tf_demo_c++.launch 
... logging to /home/shiyanlou/.ros/log/8ba90254-ad0b-11ec-bf40-0242c0a82a04/roslaunch-5a0e7854a36d-30370.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://5a0e7854a36d:36559/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    listener (learning_tf/turtle_tf_listener)
    sim (turtlesim/turtlesim_node)
    teleop (turtlesim/turtle_teleop_key)
    turtle1_tf_broadcaster (learning_tf/turtle_tf_broadcaster)
    turtle2_tf_broadcaster (learning_tf/turtle_tf_broadcaster)

auto-starting new master
process[master]: started with pid [30380]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8ba90254-ad0b-11ec-bf40-0242c0a82a04
process[rosout-1]: started with pid [30393]
started core service [/rosout]
process[sim-2]: started with pid [30396]
process[teleop-3]: started with pid [30407]
process[turtle1_tf_broadcaster-4]: started with pid [30409]
process[turtle2_tf_broadcaster-5]: started with pid [30418]
process[listener-6]: started with pid [30422]
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
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原始发表：2022-03-26，如有侵权请联系 cloudcommunity@tencent.com 删除
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