knowledge_map/工作/艾航/Ubuntu20 ROS安装使用.md

安装

sudo echo "deb https://mirrors.bfsu.edu.cn/ros/ubuntu/ focal main" >> /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop
sudo apt install ros-noetic-sensor-msgs
sudo apt install libusb-1.0-0-dev
sudo apt install libsdl2-dev
sudo apt install ffmpeg
sudo apt install libcurlpp-dev
#include
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

编译

mkdir -p catkin_ws/src   #创建工作空间
mv rospkg  catkin_ws/src/  # 将ros包移动到工作空间中
catkin_make    # 编译

运行

需要开启三个终端

终端1

roscore  # 启动ros核心节点

终端2

cd catkin_ws
source devel/setup.sh # 使环境生效
rosrun rospkg_name 执行文件    # rospkg_name 是包名 执行文件是cmake中的执行文件名称

终端3

cd catkin_ws
source devel/setup.sh # 使环境生效
rosbag play bag.bag   # 发送ros消息

/usr/include/aarch64-linux-gnu
/usr/lib/aarch64-linux-gnu/