Ubuntu16.04 ROS
https://blog.csdn.net/CGJustDoIT/article/details/100055755#25_rosdep_57
1. 添加ROS源
ROS官方的软件源镜像
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
中国科学技术大学（USTC）镜像源
sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
中山大学（Sun Yat-Sen Univercity）镜像源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
易科机器人实验室镜像源
sudo sh -c '. /etc/lsb-release && echo "deb http://ros.exbot.net/rospackage/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
2. 设置Key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key F42ED6FBAB17C654
sudo apt-get update
3. 安装kinetic
sudo apt-get install ros-kinetic-desktop-full
4. 初始化rosdep
a.sudo rosdep init
i).sudo gedit /etc/hosts
ii).域名污染，添加以下内容到hosts
192.30.253.118 gist.github.com
185.199.110.153 github.io
151.101.113.194 github.global.ssl.fastly.net
52.216.227.168 github-cloud.s3.amazonaws.com
52.74.223.119 github.com
199.232.28.133 avatars1.githubusercontent.com
199.232.28.133 avatars2.githubusercontent.com
199.232.28.133 avatars0.githubusercontent.com
199.232.28.133 avatars3.githubusercontent.com
199.232.28.133 raw.githubusercontent.com
199.232.28.133 user-images.githubusercontent.com
199.232.28.133 avatars.githubusercontent.com
199.232.28.133 github.map.fastly.net
199.232.28.133 avatars7.githubusercontent.com
# Amazon AWS Start
54.239.31.69 aws.amazon.com
54.239.30.25 console.aws.amazon.com
54.239.96.90 ap-northeast-1.console.aws.amazon.com
54.240.226.81 ap-southeast-1.console.aws.amazon.com
54.240.193.125 ap-southeast-2.console.aws.amazon.com
54.239.54.102 eu-central-1.console.aws.amazon.com
177.72.244.194 sa-east-1.console.aws.amazon.com
176.32.114.59 eu-west-1.console.aws.amazon.com
54.239.31.128 us-west-1.console.aws.amazon.com
54.240.254.230 us-west-2.console.aws.amazon.com
54.239.38.102 s3-console-us-standard.console.aws.amazon.com
54.231.49.3 s3.amazonaws.com
52.219.0.4 s3-ap-northeast-1.amazonaws.com
54.231.242.170 s3-ap-southeast-1.amazonaws.com
54.231.251.21 s3-ap-southeast-2.amazonaws.com
54.231.193.37 s3-eu-central-1.amazonaws.com
52.218.16.140 s3-eu-west-1.amazonaws.com
52.92.72.2 s3-sa-east-1.amazonaws.com
54.231.236.6 s3-us-west-1.amazonaws.com
54.231.168.160 s3-us-west-2.amazonaws.com
52.216.80.48 github-cloud.s3.amazonaws.com
54.231.40.3 github-com.s3.amazonaws.com
52.216.20.171 github-production-release-asset-2e65be.s3.amazonaws.com
52.216.228.168 github-production-user-asset-6210df.s3.amazonaws.com
b.rosdep update
5. 配置环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc #在终端内重新加载 .bashrc文件
6. 测试
a.roscore
b.rosrun turtlesim turtlesim_node
c.rosrun turtlesim turtle_teleop_key
d.rosrun rqt_graph rqt_graph
cartographer
1. 安装依赖项
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
2. 安装ceres-solver-1.11.0
git clone https://github.com/hitcm/ceres-solver-1.11.0.git
cd ceres-solver-1.11.0
mkdir build
cd build
cmake ..
make -j4
sudo make install
3. cartographer
git clone https://github.com/hitcm/cartographer.git
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
4. bianyi cartographer_ros
#初始化工作空间，我之前有一个工作空间为cartographer_ws
mkdir -p ~/cartographer_ws/src
cd ~/cartographer_ws/src
catkin_init_workspace
#安装cartographer_ros
cd ~/cartographer_ws/src
git clone https://github.com/hitcm/cartographer_ros.git
cd ~/cartographer_ws
catkin_make
echo "source ~/cartographer_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
5.
3D数据：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/data/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
6. Qt开发环境搭建
- qt安装
- qros_qtc_plugin
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update && sudo apt-get install qt57creator-plugin-ros
- 修改系统配置文件
sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf
将：
/usr/lib/x86_64-linux-gnu/qt4/bin
/usr/lib/x86_64-linux-gnu
修改为：
/home/rc/qt5.9.7/5.9.7/gcc_64/bin
/home/rc/qt5.9.7/5.9.7/gcc_64/lib
- qtcreator-ros
- ROS代码自动补全
sudo apt-get install bash-completion rosbash
7. 测试
- 建立工作空间
mkdir -p ~/qt_ws/src
- 初始化工作空间
cd ~/qt_ws/src
catkin_init_workspace
- 编译工作空间
cd ~/qt_ws
catkin_make
- qtcreator-ros
- qtcreator→ New File or Project → other project→ROS Workspace
- 设置工程name，Distribution,Build system,workspace，next，finish。
- 选中src文件夹右键点击Add New...，在弹出的框中选择ROS->Package，点击choose
- Package Details中填写包名Name，如beginner_tutorials，在Catkin一栏填写需要用到的依赖，如roscpp；其他的选项可以不填，保持默认不动，完成ROS包的创建。
- Basic 节点添加
选中beginner_tutorials包下面的src文件，右键点击点击Add New...，在弹出的框中选择ROS->Basic Node，点击choose，设置添加文件的文件名。
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sstream>
int main(int argc, char *argv[])
{
ros::init(argc, argv, "talker");
ros::NodeHandle nh;
ros::Publisher pub_ = nh.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << "Hello ros, glad to learn." << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
pub_.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
- 订阅节点
类似的方法添加订阅节点，选择Basic Subscriber Node，listener.cpp。
#include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe("chatter", 1000, chatterCallback);
ros::spin();
return 0;
}
- CmakeLIst.txt修改，部分代码如下;
cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)
find_package(catkin REQUIRED COMPONENTS
roscpp
)
include_directories(
# include
-
- ${catkin_INCLUDE_DIRS}
)
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
- 编译，运行
1、build
2、Project→Build & Run→Run
3、Run→Add→ROS Run Configuration
4、配置package和target
选择Add Run Step下面的ROS Run Step，在Arguments一栏填写beginner_tutorials talker，前面为包名，后面为节点名；或者直接在Package和Target下分别找到包名和节点。
- 开启roscore
- 选中项目，右键点击Run运行，便可以在ROS Terminals下看到两个节点运行的结果。