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
6280
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
a5296958c8b73476ebffe12d2aa4c8049e6c177f
   creating: ros_21_tutorials-master/
  inflating: ros_21_tutorials-master/README.md  
   creating: ros_21_tutorials-master/docs/
 extracting: ros_21_tutorials-master/docs/poster.png  
  inflating: ros_21_tutorials-master/docs/poster2.png  
  inflating: ros_21_tutorials-master/docs/schedule.png  
   creating: ros_21_tutorials-master/docs/slides/
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_1.\u8bfe\u7a0b\u4ecb\u7ecd.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_10.\u53d1\u5e03\u8005Publisher\u7684\u7f16\u7a0b\u5b9e\u73b0.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_11.\u8ba2\u9605\u8005Subscriber\u7684\u7f16\u7a0b\u5b9e\u73b0.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_12.\u8bdd\u9898\u6d88\u606f\u7684\u5b9a\u4e49\u4e0e\u4f7f\u7528.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_13.\u5ba2\u6237\u7aefClient\u7684\u7f16\u7a0b\u5b9e\u73b0.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_14.\u670d\u52a1\u7aefServer\u7684\u7f16\u7a0b\u5b9e\u73b0.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_15.\u670d\u52a1\u6570\u636e\u7684\u5b9a\u4e49\u4e0e\u4f7f\u7528.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_16.\u53c2\u6570\u7684\u4f7f\u7528\u4e0e\u7f16\u7a0b\u65b9\u6cd5.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_17.ROS\u4e2d\u7684\u5750\u6807\u7cfb\u7ba1\u7406\u7cfb\u7edf.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_18.tf\u5750\u6807\u7cfb\u5e7f\u64ad\u4e0e\u76d1\u542c\u7684\u7f16\u7a0b\u5b9e\u73b0.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_19.launch\u542f\u52a8\u6587\u4ef6\u7684\u4f7f\u7528\u65b9\u6cd5.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_2.Linux\u7cfb\u7edf\u4ecb\u7ecd\u53ca\u5b89\u88c5.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_20.\u5e38\u7528\u53ef\u89c6\u5316\u5de5\u5177\u7684\u4f7f\u7528.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_21.\u8bfe\u7a0b\u603b\u7ed3\u4e0e\u8fdb\u9636\u653b\u7565.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_3.Linux\u7cfb\u7edf\u57fa\u7840\u64cd\u4f5c.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_4.\u7f16\u7a0b\u6781\u7b80\u57fa\u7840.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_5.\u5b89\u88c5ROS\u7cfb\u7edf.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_6.ROS\u662f\u4ec0\u4e48.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_7.ROS\u7684\u6838\u5fc3\u6982\u5ff5.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_8.ROS\u547d\u4ee4\u884c\u5de5\u5177\u7684\u4f7f\u7528.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_9.\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u4e0e\u529f\u80fd\u5305.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_\u52a01.\u5b66\u5b8c21\u8bb2\uff0c\u8be5\u5b66\u4ec0\u4e48.pdf  
  inflating: ros_21_tutorials-master/docs/slides/\u53e4\u6708 · ROS\u5165\u95e821\u8bb2_\u52a02.ROS\u5728\u673a\u5668\u4eba\u4e2d\u662f\u5982\u4f55\u8fd0\u884c\u7684.pdf  
   creating: ros_21_tutorials-master/learning_launch/
  inflating: ros_21_tutorials-master/learning_launch/CMakeLists.txt  
   creating: ros_21_tutorials-master/learning_launch/config/
  inflating: ros_21_tutorials-master/learning_launch/config/param.yaml  
   creating: ros_21_tutorials-master/learning_launch/launch/
  inflating: ros_21_tutorials-master/learning_launch/launch/simple.launch  
  inflating: ros_21_tutorials-master/learning_launch/launch/start_tf_demo_c++.launch  
  inflating: ros_21_tutorials-master/learning_launch/launch/start_tf_demo_py.launch  
  inflating: ros_21_tutorials-master/learning_launch/launch/turtlesim_parameter_config.launch  
  inflating: ros_21_tutorials-master/learning_launch/launch/turtlesim_remap.launch  
  inflating: ros_21_tutorials-master/learning_launch/package.xml  
   creating: ros_21_tutorials-master/learning_parameter/
  inflating: ros_21_tutorials-master/learning_parameter/CMakeLists.txt  
   creating: ros_21_tutorials-master/learning_parameter/config/
  inflating: ros_21_tutorials-master/learning_parameter/config/turtle_param.yaml  
  inflating: ros_21_tutorials-master/learning_parameter/package.xml  
   creating: ros_21_tutorials-master/learning_parameter/scripts/
  inflating: ros_21_tutorials-master/learning_parameter/scripts/parameter_config.py  
   creating: ros_21_tutorials-master/learning_parameter/src/
  inflating: ros_21_tutorials-master/learning_parameter/src/parameter_config.cpp  
   creating: ros_21_tutorials-master/learning_service/
  inflating: ros_21_tutorials-master/learning_service/CMakeLists.txt  
  inflating: ros_21_tutorials-master/learning_service/package.xml  
   creating: ros_21_tutorials-master/learning_service/scripts/
  inflating: ros_21_tutorials-master/learning_service/scripts/person_client.py  
  inflating: ros_21_tutorials-master/learning_service/scripts/person_server.py  
  inflating: ros_21_tutorials-master/learning_service/scripts/turtle_command_server.py  
  inflating: ros_21_tutorials-master/learning_service/scripts/turtle_spawn.py  
   creating: ros_21_tutorials-master/learning_service/src/
  inflating: ros_21_tutorials-master/learning_service/src/person_client.cpp  
  inflating: ros_21_tutorials-master/learning_service/src/person_server.cpp  
  inflating: ros_21_tutorials-master/learning_service/src/turtle_command_server.cpp  
  inflating: ros_21_tutorials-master/learning_service/src/turtle_spawn.cpp  
   creating: ros_21_tutorials-master/learning_service/srv/
  inflating: ros_21_tutorials-master/learning_service/srv/Person.srv  
   creating: ros_21_tutorials-master/learning_tf/
  inflating: ros_21_tutorials-master/learning_tf/CMakeLists.txt  
   creating: ros_21_tutorials-master/learning_tf/launch/
  inflating: ros_21_tutorials-master/learning_tf/launch/start_tf_demo_c++.launch  
  inflating: ros_21_tutorials-master/learning_tf/launch/start_tf_demo_py.launch  
  inflating: ros_21_tutorials-master/learning_tf/package.xml  
   creating: ros_21_tutorials-master/learning_tf/scripts/
  inflating: ros_21_tutorials-master/learning_tf/scripts/turtle_tf_broadcaster.py  
  inflating: ros_21_tutorials-master/learning_tf/scripts/turtle_tf_listener.py  
   creating: ros_21_tutorials-master/learning_tf/src/
  inflating: ros_21_tutorials-master/learning_tf/src/turtle_tf_broadcaster.cpp  
  inflating: ros_21_tutorials-master/learning_tf/src/turtle_tf_listener.cpp  
   creating: ros_21_tutorials-master/learning_topic/
  inflating: ros_21_tutorials-master/learning_topic/CMakeLists.txt  
   creating: ros_21_tutorials-master/learning_topic/msg/
  inflating: ros_21_tutorials-master/learning_topic/msg/Person.msg  
  inflating: ros_21_tutorials-master/learning_topic/package.xml  
   creating: ros_21_tutorials-master/learning_topic/scripts/
  inflating: ros_21_tutorials-master/learning_topic/scripts/person_publisher.py  
  inflating: ros_21_tutorials-master/learning_topic/scripts/person_subscriber.py  
  inflating: ros_21_tutorials-master/learning_topic/scripts/pose_subscriber.py  
  inflating: ros_21_tutorials-master/learning_topic/scripts/velocity_publisher.py  
   creating: ros_21_tutorials-master/learning_topic/src/
  inflating: ros_21_tutorials-master/learning_topic/src/person_publisher.cpp  
  inflating: ros_21_tutorials-master/learning_topic/src/person_subscriber.cpp  
  inflating: ros_21_tutorials-master/learning_topic/src/pose_subscriber.cpp  
  inflating: ros_21_tutorials-master/learning_topic/src/velocity_publisher.cpp  
   creating: ros_21_tutorials-master/linux/
  inflating: ros_21_tutorials-master/linux/c++_class.cpp  
  inflating: ros_21_tutorials-master/linux/c++_for.cpp  
  inflating: ros_21_tutorials-master/linux/c++_while.cpp  
  inflating: ros_21_tutorials-master/linux/python_class.py  
  inflating: ros_21_tutorials-master/linux/python_for.py  
  inflating: ros_21_tutorials-master/linux/python_while.py  
  inflating: ros_21_tutorials-master/\u300aROS\u5165\u95e821\u8bb2\u300b\u6559\u7a0b\u8865\u5145\u8d44\u6599.pdf  
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.
本文参与腾讯云自媒体同步曝光计划，分享自作者个人站点/博客。
原始发表：2022-03-26，如有侵权请联系 cloudcommunity@tencent.com 删除
build