54 lines
1.1 KiB
Markdown
54 lines
1.1 KiB
Markdown
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## 安装
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```bash
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sudo echo "deb https://mirrors.bfsu.edu.cn/ros/ubuntu/ focal main" >> /etc/apt/sources.list.d/ros-latest.list
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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sudo apt update
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sudo apt install ros-noetic-desktop
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sudo apt install ros-noetic-sensor-msgs
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sudo apt install libusb-1.0-0-dev
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sudo apt install libsdl2-dev
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sudo apt install ffmpeg
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sudo apt install libcurlpp-dev
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#include
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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```
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## 编译
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```bash
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mkdir -p catkin_ws/src #创建工作空间
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mv rospkg catkin_ws/src/ # 将ros包移动到工作空间中
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catkin_make # 编译
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```
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## 运行
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需要开启三个终端
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#### 终端1
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```bash
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roscore # 启动ros核心节点
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```
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#### 终端2
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```bash
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cd catkin_ws
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source devel/setup.sh # 使环境生效
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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
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```
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#### 终端3
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```bash
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cd catkin_ws
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source devel/setup.sh # 使环境生效
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rosbag play bag.bag # 发送ros消息
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```
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```
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/usr/include/aarch64-linux-gnu
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/usr/lib/aarch64-linux-gnu/
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``` |