/ROS-projects

ROS-projects

Title

My learning process in ROS， including the setting and debugging processes.

Installation

Clone

  • Clone this repo to your local machine using https://github.com/LiuSirui99/ROS-projects.git

Setup

  • For MacOS: ✅

    Build with docker.

    $  docker pull ct2034/vnc-ros-kinetic-full

    In case of error : unauthorized: incorrect username or password

     $ docker logout
 $ docker login

    Run the server in the terminal:

    $ docker run -it --rm -p 6080:80 ct2034/vnc-ros-kinetic-full

    Then Browse http://127.0.0.1:6080/.

    In case of error: ROS waiting for master

    $ roscore

  • For Ubuntu:

    Because I am using the ubuntu VM in MacOs, which is 32-bit. But ROS only supports amd64, which is 64-bit, so I can only install it from source. You can see the detailed process at http://wiki.ros.org/melodic/Installation/Source

    The steps:

    1. Set the Ubuntu universe repositories enabled

    2. Set up the souces.list

    $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    1. Set up your keys
    $ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    1. Installing bootstrap dependencies
    $ sudo apt-get install python-rosdep python-rosinstall-generator python-vcstool python-rosinstall build-essential
    1. Initializing rosdep
    $ sudo rosdep init
$ rosdep update
    1. Create a catkin Workspace
    $ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
    1. Next we will want to fetch the core packages so we can build them.

    We will use vcstool for this

    $ sudo apt install python3-vcstool
$ rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
$ vcs import src < melodic-desktop-full.rosinstall

    In case of error: 'src not found'

    $ mkdir src
$ cd src
    1. Resolving Dependencies
    rosdep install --from-paths src --ignore-src --rosdistro melodic -y
    1. Building the catkin Workspace
    $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
    1. Now the packages should have been installed to ~/ros_catkin_ws/install_isolated or to wherever you specified with the --install-space argument.

    If you look in that directory you will see that a setup.bash file have been generated.

    To utilize the things installed there simply source that file like so:

    $ source ~/ros_catkin_ws/install_isolated/setup.bash

Contributing

To get started...

Step 1

  • Option 1

    • 🍴 Fork this repo!

  • Option 2

    • 👯 Clone this repo to your local machine using https://github.com/LiuSirui99/ROS-projects.git

Step 2

  • HACK AWAY! 🔨🔨🔨

Step 3

Usage

Follow the step by step ROS installation, env setting and project codding process. 

Hope I will keep pushing.

License

Liu Sirui (liusirui1234@gmail.com)