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如何在KR260上运行ROS.md

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如何在KR260上运行ROS

什么是ROS?

机器人操作系统(ROS)是一套软件库和工具,可以帮助你建立机器人应用。从驱动程序到最先进的算法,以及强大的开发者工具,ROS拥有你的下一个机器人项目所需要的东西。而且都是开源的。

ROS虽然叫做机器人操作系统,但本质并不是操作系统,而是一个软件工具。它的作用是抽象机器人控制和传感器驱动的过程,让不同协议的器件之间能够互相通信。起到了一个总线的作用,不需要交互协议,所有的控制用Python,C++完成即可

Table of Contents

  • 0. Environment

  • 1. Installation ROSs

  • 2. Steps

  • 3. 机械臂工程配置部分

    0. Environment

    1. Hardware: KR260
    2. OS: Ubuntu 22.04 (运行在KR260,目前仅支持该版本)
    3. ROS:ROS2 Humble (Ubuntu 22 目前仅支持该版本)

    1. Installation ROS

    https://docs.ros.org/en/humble/Installation.html

    2. Steps (在KR260的Ubuntu中)

    2.1 安装依赖

    locale  # check for UTF-8
    sudo apt-get update
    sudo apt-get install curl gnupg2 lsb-release vim  
    sudo apt update && sudo apt install locales
    sudo apt-get install g++
    sudo apt install python3-colcon-common-extensions   
    sudo apt-get -y install curl build-essential libssl-dev git wget ocl-icd-* opencl-headers python3-vcstool  python3-colcon-mixin kpartx u-boot-tools pv libgazebo11-dev
    sudo apt-get install -y build-essential cmake make pkg-config
    sudo apt-get install -y libjpeg-dev libtiff5-dev libjasper-dev libpng-dev
    sudo apt-get install -y libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev
    sudo apt-get install -y libfontconfig1-dev libcairo2-dev libgdk-pixbuf2.0-dev libpango1.0-dev libgtk2.0-dev libgtk-3-dev
    sudo apt-get install -y libatlas-base-dev gfortran
    sudo apt-get install -y python3-dev
    

    2.2 保证UTF-8的支持

    sudo apt-get install -y python3-dev
    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
    locale  # verify settings
    

    2.3 配置源

    apt-cache policy | grep universe
    sudo apt install software-properties-common
    sudo add-apt-repository universe
    sudo apt update && sudo apt install curl gnupg lsb-release
    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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
    
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
    

    2.4 下载ROS2包

    下载的内容之前已经配置好了,因此这里只需要更新一下,直接下载就可以了。

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

    2.5 source ROS 到环境中

    source /opt/ros/humble/setup.bash
    

    2.6 测试安装成功

    分别打开两个Terminal,输入以下指令,第一个部分为发送数据,第二个部分为接收数据

    . ~/ros2_humble/install/local_setup.bash
    ros2 run demo_nodes_cpp talker
    
    . ~/ros2_humble/install/local_setup.bash
    ros2 run demo_nodes_py listener
    

    期待的结果:左,发布信息;右,接收信息 here