蓝桥ROS机器人之古月居ROS入门21讲
Posted zhangrelay
tags:
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ROS1入门经典课程，在其官网和B站等都有详细介绍和视频讲解。
古月居校园行
直接在蓝桥云课下载就可以学习和使用啦。
文档部分：
源码等：
将源码复制到demo_ws/src下，并编译后使用：
catkin build
ros1 kinetic(1) or ros2 ardent(2)?
1
shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/ros_book.git
\\u6b63\\u514b\\u9686\\u5230 'ros_book'...
remote: Enumerating objects: 15, done.
remote: Counting objects: 100% (15/15), done.
remote: Compressing objects: 100% (15/15), done.
remote: Total 15 (delta 3), reused 0 (delta 0), pack-reused 0
\\u5c55\\u5f00\\u5bf9\\u8c61\\u4e2d: 100% (15/15), \\u5b8c\\u6210.
\\u68c0\\u67e5\\u8fde\\u63a5... \\u5b8c\\u6210\\u3002
shiyanlou:Code/ $ unzip ros_book/ros_21_tutorials-master.zip [13:45:05]
Archive: ros_book/ros_21_tutorials-master.zip
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shiyanlou:Code/ $ cd demo_ws [13:45:43]
shiyanlou:demo_ws/ $ catkin build [13:46:49]
-----------------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/kinetic
Workspace: /home/shiyanlou/Code/demo_ws
-----------------------------------------------------------------
Build Space: [exists] /home/shiyanlou/Code/demo_ws/build
Devel Space: [exists] /home/shiyanlou/Code/demo_ws/devel
Install Space: [unused] /home/shiyanlou/Code/demo_ws/install
Log Space: [missing] /home/shiyanlou/Code/demo_ws/logs
Source Space: [exists] /home/shiyanlou/Code/demo_ws/src
DESTDIR: [unused] None
-----------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-----------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-----------------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
-----------------------------------------------------------------
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------------
[build] Found '5' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 2.3 seconds ]
Starting >>> learning_launch
Starting >>> learning_parameter
Starting >>> learning_service
Starting >>> learning_tf
Finished <<< learning_launch [ 10.8 seconds ]
Starting >>> learning_topic
Finished <<< learning_parameter [ 24.6 seconds ]
Finished <<< learning_tf [ 47.4 seconds ]
Finished <<< learning_service [ 56.3 seconds ]
Finished <<< learning_topic [ 46.4 seconds ]
[build] Summary: All 6 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 59.6 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
Exception ignored in: <bound method BaseEventLoop.__del__ of <_UnixSelectorEventLoop running=False closed=True debug=False>>
Traceback (most recent call last):
File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in __del__
File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close
File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler
File "/usr/lib/python3.5/signal.py", line 47, in signal
TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object
shiyanlou:demo_ws/ $ source devel/setup.bash [13:47:55]
devel/setup.bash:.:8: \\u6ca1\\u6709\\u90a3\\u4e2a\\u6587\\u4ef6\\u6216\\u76ee\\u5f55: /home/shiyanlou/Code/demo_ws/setup.sh
shiyanlou:demo_ws/ $ source devel/setup.zsh [13:48:31]
shiyanlou:demo_ws/ $ roslaunch learning_launch start_tf_demo_c++.launch
... logging to /home/shiyanlou/.ros/log/8ba90254-ad0b-11ec-bf40-0242c0a82a04/roslaunch-5a0e7854a36d-30370.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://5a0e7854a36d:36559/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.17
NODES
/
listener (learning_tf/turtle_tf_listener)
sim (turtlesim/turtlesim_node)
teleop (turtlesim/turtle_teleop_key)
turtle1_tf_broadcaster (learning_tf/turtle_tf_broadcaster)
turtle2_tf_broadcaster (learning_tf/turtle_tf_broadcaster)
auto-starting new master
process[master]: started with pid [30380]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8ba90254-ad0b-11ec-bf40-0242c0a82a04
process[rosout-1]: started with pid [30393]
started core service [/rosout]
process[sim-2]: started with pid [30396]
process[teleop-3]: started with pid [30407]
process[turtle1_tf_broadcaster-4]: started with pid [30409]
process[turtle2_tf_broadcaster-5]: started with pid [30418]
process[listener-6]: started with pid [30422]
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
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