ROS实践（1）-环境搭建

一 介绍

ROS官网：http://www.ros.org/

ROS中文社区：http://www.robotos.net/forum.php

ROS版本：ROS的版本名称是按字母顺序E-F-G-H-I-J排列的，Electric-->Fuerte-->Groovy-->Hydro–>Indigo–>Jade...，我们采用的是Indigo

ROS客户端：节点需要使用roscpp或rospy的ROS客户端编写，我们采用的是roscpp

 

1 文件系统 stack和package

二 安装

1. 环境：4核 8G内存 1T硬盘 dell主机 ubuntu 14.04.3 （U盘安装，开机按F12选择U盘启动），环境ok后，继续下面步骤；
   
2. 设置安装源(确保你的main源是ubuntu的官方源，切换阿里云、163等源可能存在问题)
   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3. 设置key
   sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
4. 安装完整版ros，选择版本indigo
   sudo apt-get update
   sudo apt-get install ros-indigo-desktop-full
   echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
   source ~/.bashrc
5. 初始化ros依赖
   sudo rosdep init
   sudo rosdep update
   sudo apt-get install python-rosinstall python-rosdep
   

 

三 运行

报错：

yangkai04@yangkai04-Inspiron-3650:~$ roscore Traceback (most recent call last):   File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 257, in main     write_pid_file(options.pid_fn, options.core, options.port)   File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 110, in write_pid_file     with open(pid_fn, "w") as f: IOError: [Errno 13] Permission denied: '/home/yangkai04/.ros/roscore-11311.pid'

解决：

yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ sudo passwd root Enter new UNIX password: Retype new UNIX password: passwd: password updated successfully yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ ls autotest    build.log       COMAKE          obstacle       production BCLOUD      build.sh        error.log       obstacle_mock  README.md BCLOUD.cov  cmake           lib             onboard        tools build       CMakeLists.txt  local_build.sh  output         traffic_light yangkai04@yangkai04-Inspiron-3650:~/project/baidu/adu/perception$ su root Password: root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception# vim ~/.bashrc 添加：source /opt/ros/indigo/setup.bash root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception# source ~/.bashrc root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception#roscore ... logging to /root/.ros/log/d448ba6c-a498-11e6-bcd2-f48e38af57c0/roslaunch-yangkai04-Inspiron-3650-12974.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. started roslaunch server http://yangkai04-Inspiron-3650:40229/ ros_comm version 1.11.20 SUMMARY ======== PARAMETERS  * /rosdistro: indigo  * /rosversion: 1.11.20 NODES auto-starting new master process[master]: started with pid [12986] ROS_MASTER_URI=http://yangkai04-Inspiron-3650:11311/ setting /run_id to d448ba6c-a498-11e6-bcd2-f48e38af57c0 process[rosout-1]: started with pid [12999] started core service [/rosout]

 

四 ROS文件系统导览

root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception#rospack find turtlesim /opt/ros/indigo/share/turtlesim root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception#rosls turtlesim cmake  images  msg  package.xml  srv root@yangkai04-Inspiron-3650:/home/yangkai04/project/baidu/adu/perception#roscd turtlesim root@yangkai04-Inspiron-3650:/opt/ros/indigo/share/turtlesim# pwd /opt/ros/indigo/share/turtlesim

 

五 创建工作空间

root@yangkai04-Inspiron-3650:/home/yangkai04/dev/rosbook/chapter2_tutorials# echo $ROS_PACKAGE_PATH /opt/ros/indigo/share:/opt/ros/indigo/stacks root@yangkai04-Inspiron-3650:/home/yangkai04/dev/rosbook/chapter2_tutorials# cd ~ root@yangkai04-Inspiron-3650:~# mkdir -p dev/rosbook root@yangkai04-Inspiron-3650:~# echo "export ROS_PACKAGE_PATH=~/dev/rosbook:${ROS_PACKAGE_PATH}" >> ~/.bashrc root@yangkai04-Inspiron-3650:~# tail -n 2 ~/.bashrc export ROS_PACKAGE_PATH=~/dev/rosbook:/opt/ros/indigo/share:/opt/ros/indigo/stacks root@yangkai04-Inspiron-3650:~# source ~/.bashrc

 

六 创建ROS功能包

root@yangkai04-Inspiron-3650:~# cd ~/dev/rosbook/ root@yangkai04-Inspiron-3650:~/dev/rosbook# ls root@yangkai04-Inspiron-3650:~/dev/rosbook# roscreate-pkg chapter2_tutorialsstd_msgs rospy roscpp Created package directory /root/dev/rosbook/chapter2_tutorials Created include directory /root/dev/rosbook/chapter2_tutorials/include/chapter2_tutorials Created cpp source directory /root/dev/rosbook/chapter2_tutorials/src Created package file /root/dev/rosbook/chapter2_tutorials/Makefile Created package file /root/dev/rosbook/chapter2_tutorials/manifest.xml Created package file /root/dev/rosbook/chapter2_tutorials/CMakeLists.txt Created package file /root/dev/rosbook/chapter2_tutorials/mainpage.dox Please edit chapter2_tutorials/manifest.xml and mainpage.dox to finish creating your package root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack find chapter2_tutorials /root/dev/rosbook/chapter2_tutorials root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack depends chapter2_tutorials [rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update' root@yangkai04-Inspiron-3650:~/dev/rosbook# sudo rosdep init ERROR: default sources list file already exists:     /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize root@yangkai04-Inspiron-3650:~/dev/rosbook# rosdep update reading in sources list data from /etc/ros/rosdep/sources.list.d Warning: running 'rosdep update' as root is not recommended.   You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo. Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml Add distro "groovy" Add distro "hydro" Add distro "indigo" Add distro "jade" Add distro "kinetic" updated cache in /root/.ros/rosdep/sources.cache root@yangkai04-Inspiron-3650:~/dev/rosbook# rospack depends chapter2_tutorials cpp_common rostime roscpp_traits roscpp_serialization catkin genmsg genpy message_runtime std_msgs gencpp genlisp message_generation rosbuild rosconsole rosgraph_msgs xmlrpcpp roscpp rosgraph rospack roslib rospy root@yangkai04-Inspiron-3650:~/dev/rosbook#rosls chapter2_tutorials CMakeLists.txt  include  mainpage.dox  Makefile  manifest.xml  src root@yangkai04-Inspiron-3650:~/dev/rosbook#roscd chapter2_tutorials root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials# pwd /root/dev/rosbook/chapter2_tutorials root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials#

 

七 编译ROS功能包

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials#rosmake chapter2_tutorials ........................ [ rosmake ] Results:                                                             [ rosmake ] Built 25 packages with 0 failures.                                   [ rosmake ] Summary output to directory                                          [ rosmake ] /root/.ros/rosmake/rosmake_output-20161108-154400

 

八 启动ROS

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials# roscore ... logging to /root/.ros/log/abddcc94-a587-11e6-bcd2-f48e38af57c0/roslaunch-yangkai04-Inspiron-3650-20120.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. started roslaunch server http://yangkai04-Inspiron-3650:40461/ ros_comm version 1.11.20 SUMMARY ======== PARAMETERS  * /rosdistro: indigo  * /rosversion: 1.11.20 NODES auto-starting new master process[master]: started with pid [20132] ROS_MASTER_URI=http://yangkai04-Inspiron-3650:11311/ setting /run_id to abddcc94-a587-11e6-bcd2-f48e38af57c0 process[rosout-1]: started with pid [20145] started core service [/rosout]

九 停止ROS

^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

root@yangkai04-Inspiron-3650:/home/yangkai04#rosnode list ERROR: Unable to communicate with master! root@yangkai04-Inspiron-3650:/home/yangkai04#rosnode list ERROR: Unable to communicate with master!