ROS 应用 1 2014年12月29日

安装：http://wiki.ros.org/indigo/Installation/Ubuntu    ：注意添加中国的镜像 

sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo sh -c '. /etc/lsb-release && echo "deb http://101.227.245.14/mirror-cn-sh/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

开启应用之旅：http://wiki.ros.org/ROS/Tutorials

Create a ROS Workspace 创建工作区间  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

$ mkdir -p ~/catkin_ws/src$ cd ~/catkin_ws/src$ catkin_init_workspace

$ cd ~/catkin_ws/$ catkin_make

$ source devel/setup.bash

了解三个命令  http://wiki.ros.org/ROS/Tutorials/NavigatingTheFilesystem    如何查看ROS文件系统

rospack

roscd

rosls

Creating a ROS Package  创建一个ROS包     catkin方法  http://wiki.ros.org/ROS/Tutorials/CreatingPackage

# You should have created this in the Creating a Workspace Tutorial$ cd ~/catkin_ws/src

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

$ rospack depends1 beginner_tutorials 

$ roscd beginner_tutorials$ cat package.xml

$ rospack depends1 rospy

$ rospack depends beginner_tutorials

build a package   编译一个package  http://wiki.ros.org/ROS/Tutorials/BuildingPackages

$ cd ~/catkin_ws/$ ls src

$ catkin_make

$ ls

Understanding ROS Nodes  理解ROS 节点  http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes

$ roscore

Open up a new terminal, and let's use rosnode to see what running roscore did...

$ rosnode list

$ rosnode info /rosout

Then, in a new terminal:

$ rosrun turtlesim turtlesim_node

In a new terminal:

$ rosnode list

$ rosrun turtlesim turtlesim_node __name:=my_turtle

$ rosnode list

$ rosnode ping my_turtle