22.ROS初探

ROS初探

ROS简介

安装

# 添加软件源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 如果想使用镜像站来加速下载，执行以下命令
# sudo sh -c 'echo "deb http://ros.exbot.net/rospackage/ros/ubuntu/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 设置密钥
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
# 更新源
sudo apt-get update
# 安装完整桌面版
sudo apt-get install ros-kinetic-desktop-full
# 初始化ROS
sudo rosdep init
#　更新ROS依赖
rosdep update
# 更新环境变量
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# 如果使用zsh，使用以下命令进行更新
# echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
# source ~/.zshrc
# 安装编译工具链
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

安装完成后测试ROS是否安装完成

roscore

哦了~

安装MAVRos

sudo apt install ros-kinetic-mavros ros-kinetic-mavros-extras
# 需要执行以下命令来安装geographiclib
sudo /opt/ros/kinetic/lib/mavros/install_geographiclib_datasets.sh

编译PX4固件

PX4固件github

git clone https://github.com/PX4/Firmware.git
# 编译并启动gazebo
make posix gazebo

转发模拟器命令至飞控

roslaunch mavros px4.launch fcu_url:="udp://:[email protected]:14557"

之后便可以通过rostopic和roservice命令进行mavros消息、话题的发布来控制无人机了。

可能出现的错误

No rule to make target '~/Firmware/Tools/sitl_gazebo/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND'

sudo apt-get install python-jinja2 protobuf-compiler python-pip
sudo pip install numpy toml