ROS学习——第1讲 ROS概述及环境搭建

root@ubuntu:/# cd /usr/lib/python3/dist-packages/
root@ubuntu:/usr/lib/python3/dist-packages# find . -type f | xargs grep "raw.githubusercontent"

sudo gedit ./rosdistro/__init__.py 
sudo gedit ./rosdep2/gbpdistro_support.py
sudo gedit ./rosdep2/sources_list.py
sudo gedit ./rosdep2/rep3.py

sudo gedit /usr/share/lightdm/lightdm.conf.d/50-ubuntu.conf 
sudo gedit /etc/pam.d/gdm-autologin
sudo gedit /etc/pam.d/gdm-password
sudo gedit /root/.profile
tty -s &&mesg n || true
sudo gedit /etc/gdm3/custom.conf

user-session=ubuntu
#手工输入登陆系统的用户名和密码
greeter-show-manual-login=true
#禁用guest用户
all-guest=false
#启动后以root身份自动登录
autologin-user=root

root@ubuntu:/home/peter/demo01_ws# cd src/
root@ubuntu:/home/peter/demo01_ws/src# catkin_create_pkg helloworld roscpp rospy std_msgs

// 1. ros hand file

#include "ros/ros.h"
// 2. main 
int main(int argc, char *argv[]){
    // 3. ros node
    ros::init(argc,argv,"hello_node");
    // 4. output log
    ROS_INFO("hello world");
    return 0;
}

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "roscpp" with any
  of the following names:

    roscppConfig.cmake
    roscpp-config.cmake

CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:82 (find_package):
  Could not find a package configuration file provided by "rospy" with any of
  the following names:

    rospyConfig.cmake
    rospy-config.cmake

cd 工作空间
source ./devel/setup.bash
rosrun 包名 C++节点

E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
root@ubuntu:/home/peter# roscore

Command 'roscore' not found, but can be installed with:

apt install python3-roslaunch

Errors were encountered while processing:
 /var/cache/apt/archives/python3-catkin-pkg-modules_1.0.0-1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

Resource not found: roslaunch
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share
The traceback for the exception was written to the log file

sudo apt-get install ros-noetic-roslaunch

… logging to /home/gm/.ros/log/24112dc4-6213-11e9-87a9-98541bdb0e48/roslaunch-gm-Lenovo-ideapad-4266.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

rosclean check
rosclean purge

root@ubuntu:/home/peter/demo01_ws# rosrun helloworld HAHA

Command 'rosrun' not found, but can be installed with:

apt install rosbash

/usr/bin/env: ‘python’: No such file or directory

sudo ln -s /usr/bin/python3 /usr/bin/python

RLException: roscore cannot run as another roscore/master is already running. 
Please kill other roscore/master processes before relaunching.
The ROS_MASTER_URI is http://127.0.0.1:11311/
The traceback for the exception was written to the log file

sudo apt update
sudo apt install software-properties-common apt-transport-https wget

wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
sudo apt install code

root@ubuntu:/home/peter/demo02_ws# code .
You are trying to start Visual Studio Code as a super user which isn't recommended. If this was intended, please add the argument `--no-sandbox` and specify an alternate user data directory using the `--user-data-dir` argument.

vi ~/.bashrc
# 添加一行
alias code='/usr/share/code/code . --no-sandbox --unity-launch'
# 报存生效
source ~/.bashrc

{
// 有关 tasks.json 格式的文档，请参见
    // https://go.microsoft.com/fwlink/?LinkId=733558
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make:debug", //代表提示的描述性信息
            "type": "shell",  //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
            "command": "catkin_make",//这个是我们需要运行的命令
            "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
            "group": {"kind":"build","isDefault":true},
            "presentation": {
                "reveal": "always"//可选always或者silence，代表是否输出信息
            },
            "problemMatcher": "$msCompile"
        }
    ]
}

roscpp rospy std_msgs

#include "ros/ros.h"

int main(int argc, char *argv[])
{
    ros::init(argc,argv,"hello_c");
    ROS_INFO("HELLO");
    
    return 0;
}

chmod +x *.py

<launch>
     <!-- add node -->
     <!-- Tutle gui -->
    <node pkg="turtlesim" type="turtlesim_node" name="t1"/>
    <node pkg="turtlesim" type="turtle_teleop_key" name="key1" />
</launch>

    <node pkg= "hello_vscode" type="hello_vscode_c" name="hello" output="screen" />

sudo apt-get install ros-noetic-ros-tutorials

WorkSpace --- 自定义的工作空间

    |--- build:编译空间，用于存放CMake和catkin的缓存信息、配置信息和其他中间文件。

    |--- devel:开发空间，用于存放编译后生成的目标文件，包括头文件、动态&静态链接库、可执行文件等。

    |--- src: 源码

        |-- package：功能包(ROS基本单元)包含多个节点、库与配置文件，包名所有字母小写，只能由字母、数字与下划线组成

            |-- CMakeLists.txt 配置编译规则，比如源文件、依赖项、目标文件

            |-- package.xml 包信息，比如:包名、版本、作者、依赖项...(以前版本是 manifest.xml)

            |-- scripts 存储python文件

            |-- src 存储C++源文件

            |-- include 头文件

            |-- msg 消息通信格式文件

            |-- srv 服务通信格式文件

            |-- action 动作格式文件

            |-- launch 可一次性运行多个节点 

            |-- config 配置信息

        |-- CMakeLists.txt: 编译的基本配置

apt search ros-noetic-* | grep -i gmapping