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
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- Hardware: KR260
- OS: Ubuntu 22.04 (运行在KR260,目前仅支持该版本)
- ROS:ROS2 Humble (Ubuntu 22 目前仅支持该版本)
https://docs.ros.org/en/humble/Installation.html
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
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
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'
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
source /opt/ros/humble/setup.bash
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