安裝
sudo apt-get install subversion
下載
svn checkout https://140.118.206.177/svn/ivam_svn/
sudo apt-get install ros-melodic-pr2-navigation
新增資料夾
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
環境變數
source devel/setup.bash
catkin_create_pkg
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
開啟烏龜
rosrun turtlesim turtlesim_node
開啟烏龜rename
rosrun turtlesim turtlesim_node __name:=turtlesim2
控龜
rosrun turtlesim turtle_teleop_key
看龜點
rostopic echo / turtle1 / cmd_vel
跑一段
rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
馬拉松
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
節點圖
rosrun rqt_graph rqt_graph
差看圖表
rosrun rqt_plot rqt_plot
rosservice list
rosservice type /clear
rosservice call clear
rosservice call /spawn 2 2 0.2 ""
rosparam list
rosparam set background_r 150
rosservice call /clear
rosparam get /
新增 launch
mkdir ~/catkin_ws/src/beginner_tutorials/launch
新增 launch
touch turtlemimic.launch
新增 launch
<?xml version="1.0"?>
<launch>
<group ns="turtlesim1">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<group ns="turtlesim2">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<node pkg="turtlesim" name="mimic" type="mimic">
<remap from="input" to="turtlesim1/turtle1"/>
<remap from="output" to="turtlesim2/turtle1"/>
</node>
</launch>
```virtual keyboard joystick
rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
rqt_graph
## launch msg
cd catkin_ws_20200714/
source devel/setup.bash
catkin_make
rosmsg show beginner_tutorials/Num
## talker and listener
roscore
rosrun beginner_tutorials talker
rosrun beginner_tutorials listener
roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv
rosrun beginner_tutorials talker
sudo apt-get install libusb-dev
sudo apt-get install libbluetooth-dev
sudo apt-get install libspnav-dev
sudo apt-get install libcwiid-dev
ls /dev/input/
安裝ros
sudo apt-get update
sudo apt-get upgrade
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh && chmod 755 ./install_ros_melodic.sh && bash ./install_ros_melodic.sh
install TurtleBot3 packages
sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
run
source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
https://blog.csdn.net/Spacegene/article/details/84844741
sudo apt-get install ros-melodic-driver-base
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
ls -l /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM0
rosrun hokuyo_node hokuyo_node
rostopic echo /scan
rosrun rviz rviz
rosrun gmapping slam_gmapping
rosrun map_server map_server map.yaml
roslaunch learning_tf start_demo.launch
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
cd catkin_ws/
catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1
cp build/compile_commands.json src/
restart vscode, or manually add ${workspaceFolder}/compile_commands.json to Configuration UI, advanced settings, compile commands
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
alias colcon_build="colcon build"
alias colcon_build_json="colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"