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ROS Tutorial

0.Prepare

  • bash
ls
cd
rm
mv
export
echo
whereis/which
-----------
help/--help
man
-----------
mkdir
touch
cat

1.Installing and Configuring Your ROS Environment

  • 依照官方文档，我选择的是中科大的源
  • (18.04) 安装catkin-tools : apt install python-catkin-tools
    • 更友好的编译输出
    • catkin build与catkin_make_isolated相似，允许并行编译
  • 关于python2&python3的说明
  • 推荐大家安装一下vs code

如果你使用了虚拟机，这里有一些tips可以尽量的加速你的虚拟机。以及：

  • 尽量打开3D加速
  • 如果没有打开3D加速的话，gazebo尽量缩小窗口大小，这样可以减少render带来了cpu占用。
  • 可以参考的文件管理结构：
└── 'ROOT_DIR' or '~'
    ├── catkin_ws          # catkin workspace
    │   ├── build          #
    │   ├── devel          #
    │   │   └── setup.bash #
    │   └── src            # src -> ../catkin_ws_backup/XXX_ws_src
    └── catkin_ws_backup   # store packages | multi-workspace backup
  • 可以简化你的常用命令 alias rs="source devel/setup.bash"
  • $ROS_PACKAGE_PATH

2.Navigating the ROS Filesystem

  • package是ROS构建代码或者工程的基本单位(区分node)
  • rospack, roscd, rosls
  • Tab Completion

3.Creating & Building a ROS Package

  • catkin_create_pkg <package_name>
  • 修改pakcage.xml里面的配置
  • CMakeLists (for c++ programming)
  • TASK1：使用rosrun运行一个python脚本：将脚本放在<your_package>/scripts文件夹
    • python脚本需要拥有x权限（可执行权限）
catkin build
source devel/setup.bash
roscore 
# open another console
rosrun <package_name> <script_name.py>

4.Understanding ROS Nodes & Topic

  • 进程通信
  • Nodes: A node is an executable that uses ROS to communicate with other nodes.
  • Messages: ROS data type used when subscribing or publishing to a topic.
  • Topics: Nodes can publish messages to a topic as well as subscribe to a topic to receive messages.
  • Master: Name service for ROS (i.e. helps nodes find each other)
  • rosout: ROS equivalent of stdout/stderr
  • roscore: Master + rosout + parameter server
rostopic [echo|pub|list|hz|help|...]
rosnode [list|info|help|...]
rqt_graph
------------
rqt_plot
rosmsg [show]

5.Understanding ROS Services and Parameters

rosservice [list|call|type|find|uri|...]
rosparam [list|set|get|load|dump|delete]
rossrv

6.Using rqt_console and roslaunch

  • rqt_console显示输出
  • rqt_logger_level查看log
  • roslaunch
    • 若没启动roscore会自动启动
    • 同时启动多个node
    • 可在launch文件中配置参数
    • launch文件应置于<package>/launch/XXX.launch

7.Using rosed to edit files in ROS

8.Creating a ROS msg and srv

9.Writing & Examining a Simple Publisher and Subscriber (Python)

10.Writing & Examining a Simple Service and Client (Python)

最后最后

一些比较实用的小工具

  • git // 代码的版本管理软件（可以有效的防止代码丢失）
  • vim // 远程登录只有终端的机器人时可能并没有GUI软件可以用来修改文本文件

工程github地址