ROS2 开发起步

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

sudo apt update && sudo apt install curl gnupg2 lsb-release

curl -s  | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)]  $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

可以换成清华源  mirror.tuna.tsinghua.edu.cn 替换 packages.ros.org

sudo apt update

sudo apt install ros-rolling-desktop python3-argcomplete ros-rolling-rmw-connext-cpp

测试:

source /opt/ros/rolling/setup.bash

ros2 run demo_nodes_cpp talker

source /opt/ros/rolling/setup.bash

ros2 run demo_nodes_py listener

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编译环境

sudo apt install python3-colcon-common-extensions python3-rosdep libpython3-dev python3-argcomplete

mkdir –p /work/ROS2/rolling_ridley/src

cd /work/ROS2/rolling_ridley/

范例

git clone src/examples

编译

colcon build --symlink-install

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部署开发环境

sudo rosdep init

rosdep update  ### /etc/hosts 添加 151.101.84.133  raw.githubusercontent.com

rosdep install --from-paths /opt/ros/rolling/share --ignore-src --rosdistro rolling -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"

//开机环境

cat /etc/ROS2_ENV

#!/bin/sh

export ROS_DOMAIN_ID=91

export ROS_LOCALHOST_ONLY=1  ##因为目前场景不需要分布式

source /opt/ros/rolling/setup.bash

source /work/ROS2/rolling_ridley/install/setup.bash

export GIT_SSL_NO_VERIFY=1

export SLAM_MAP_DIR=/work/ROS2/rolling_ridley/SlamMap

export VP_CALLBACK_ECHO=everything_is_OK

//添加到.bashrc

source /etc/ROS2_ENV

alias gw='cd /work/ROS2/rolling_ridley'

alias gs='cd /work/ROS2/rolling_ridley/src'

alias gm='cd /work/ROS2/rolling_ridley && colcon build'

确认环境正确性 

$ printenv | grep ROS

ROS_VERSION=2

ROS_PYTHON_VERSION=3

SLAM_MAP_DIR=/work/ROS2/rolling_ridley/SlamMap

ROS_DOMAIN_ID=91

ROS_LOCALHOST_ONLY=1

ROS_DISTRO=rolling

开始自己的包.

gs #进入工作空间的代码目录.

ros2 pkg create big_bringup --build-type ament_cmake #创建big_bringup包空间. 然后在 下面一级的 src 中添加代码.

gw # 进入工作空间目录

rosdep install -i --from-path src --rosdistro rolling –y ## 安装依赖

colcon build --packages-up-to big_bringup ## 编译 big_bringup

alias gc='cd /work/ROS2/rolling_ridley && rosdep install -i --from-path src --rosdistro rolling -y; colcon build --packages-select big_msg'

[e-mail]
ros2 pkg create big_teleop --build-type ament_cmake --dependencies big_msg --node-name teleop_node