ros笔记01--初次体验ros2

介绍
安装ros2
测试验证ros2
说明

介绍

机器人操作系统(ROS)是一组用于构建机器人应用程序的软件库和工具。从驱动程序和最先进的算法到强大的开发者工具，ROS拥有我们下一个机器人项目所需的开源工具。
当前ros已经应用到各类机器人项目开发中，对机器人技术感兴趣的小伙伴非常有必要了解下ros. 本文主要从ros2的安装和测试验证这个层面来了解和体验ros2.

安装ros2

安装基础工具和源

sudo apt install software-properties-common
sudo add-apt-repository 

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

安装 ros-dev-tools

sudo apt update && sudo apt install ros-dev-tools

安装ros2

sudo apt update
sudo apt upgrade
sudo apt install ros-jazzy-desktop
sudo apt install ros-jazzy-ros-base

测试验证ros2

设置环境

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/jazzy/setup.bash
可以通过 echo "source /opt/ros/jazzy/setup.bash" >>~/.bashrc 将其添加到环境变量中

运行demo_nodes talker/listener example

运行 C++ talker
$ source /opt/ros/jazzy/setup.bash
$ ros2 run demo_nodes_cpp talker
输出
[INFO] [1719704645.577174401] [talker]: Publishing: 'Hello World: 1'
[INFO] [1719704646.577120788] [talker]: Publishing: 'Hello World: 2'
...
运行 Python listener
$ source /opt/ros/jazzy/setup.bash
$ ros2 run demo_nodes_py listener
输出
[INFO] [1719704676.604044603] [listener]: I heard: [Hello World: 32]
[INFO] [1719704677.580123802] [listener]: I heard: [Hello World: 33]
...