机器人程序设计课程配套系统镜像使用说明（ Ubuntu 14.04.5 + ROS indigo ）
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本镜像主要针对机器人程序设计本科课程，供学生课程学习与实践操作使用，基于ROS爱好者和学生使用的反馈意见对之前发布的版本进行修正和补充，在此致谢。更新日期为：2017.03.17，ROS学习推荐网址如下：
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| ROS官网 | 易科 | ROSClub | 古月居 | 创客智造 | ROSwiki |
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U盘镜像可以使用Universal-USB-Installer或UltraISO，依据电脑配置情况。
下载链接：http://pan.baidu.com/s/1nvFLoyl 密码：z62f 系统密码：cslg。
镜像制作为U盘启动，可以参考：
1 http://blog.csdn.net/zhangrelay/article/details/53324759
2 http://blog.csdn.net/zhangrelay/article/details/54632130
在Home文件夹的catkin_ws下，配置包如下：
在Home文件夹的Robotdemo_ws下，配置包如下：
其中tutorials包含了ROS官网部分核心的教程：
下面以个人学习ROS流程做一些分享：
首先需要认真做一遍到三遍ros_tutorials，推荐中英文对照学习，举例：
.h文件并不存在的疑惑。节选自：1 2
如下：en cn
Now, let's break the code down.
1 #include "ros/ros.h" 2 #include "beginner_tutorials/AddTwoInts.h" 3 beginner_tutorials/AddTwoInts.h is the header file generated from the srv file that we created earlier.
现在，让我们来逐步分析代码。
1 #include "ros/ros.h" 2 #include "beginner_tutorials/AddTwoInts.h" 3 beginner_tutorials/AddTwoInts.h是由编译系统自动根据我们先前创建的srv文件生成的对应该srv文件的头文件。
友情提醒，请不要忽略细节部分学习，不要停留在跑通demo的层面。
--------
核心 ROS 教程
初级
- 安装并配置ROS环境
本教程详细描述了ROS的安装与环境配置。
- ROS文件系统介绍
本教程介绍ROS文件系统概念，包括命令行工具roscd、rosls和rospack的使用。
- 创建ROS程序包
本教程介绍如何使用roscreate-pkg或catkin创建一个新程序包,并使用rospack查看程序包的依赖关系。
- 编译ROS程序包
本教程介绍ROS程序包的编译方法
- 理解 ROS节点
本教程主要介绍 ROS 图（graph）概念 并讨论roscore、rosnode和 rosrun 命令行工具的使用。
- 理解ROS话题
本教程介绍ROS话题（topics）以及如何使用rostopic 和 rxplot 命令行工具。
- 理解ROS服务和参数
本教程介绍了ROS 服务和参数的知识，以及命令行工具rosservice 和 rosparam的使用方法。
- 使用 rqt_console 和 roslaunch
本教程介绍如何使用rqt_console和rqt_logger_level进行调试，以及如何使用roslaunch同时运行多个节点。早期版本中的rqt工具并不完善，因此，如果你使用的是“ROS fuerte”或更早期的版本，请同时参考这个页面学习使用老版本的“rx”工具。
- 使用rosed编辑ROS中的文件
本教程将展示如何使用rosed来简化编辑过程。
- 创建ROS消息和ROS服务
本教程详细介绍如何创建并编译ROS消息和服务，以及rosmsg, rossrv和roscp命令行工具的使用。
- 编写简单的消息发布器和订阅器 (C++)
本教程将介绍如何用 C++ 编写发布器节点和订阅器节点。
- 写一个简单的消息发布器和订阅器 (Python)
本教程将通过Python编写一个发布器节点和订阅器节点。
- 测试消息发布器和订阅器
本教程将测试上一教程所写的消息发布器和订阅器。
- 编写简单的服务器和客户端 (C++)
本教程介绍如何用 C++ 编写服务器 Service 和客户端 Client 节点。
- 编写简单的Service和Client (Python)
本教程介绍如何用Python编写Service和Client节点。
- 测试简单的Service和Client
本教程将测试之前所写的Service和Client。
- 录制与回放数据
本教程将教你如何将ROS系统运行过程中的数据录制到一个.bag文件中，然后通过回放数据来重现相似的运行过程。
- roswtf入门
本教程介绍了roswtf工具的基本使用方法。
- 探索ROS维基
本教程介绍了ROS维基(wiki.ros.org)的组织结构以及使用方法。同时讲解了如何才能从ROS维基中找到你需要的信息。
- 接下来做什么？
本教程将讨论获取更多知识的途径，以帮助你更好地使用ROS搭建真实或虚拟机器人。
现在你已经完成了初级教程的学习，请回答这个 问卷来检验一下自己的学习效果。
中级
大多数客户端 API 的使用教程可以在相关程序包 (roscpp，rospy，roslisp) 中找到。
- 手动创建ROS package
本教程将展示如何手动创建ROS package
- 管理系统依赖项
本教程将展示如何使用rosdep安装系统依赖项.
- Roslaunch在大型项目中的使用技巧
本教程主要介绍roslaunch在大型项目中的使用技巧。重点关注如何构建launch文件使得它能够在不同的情况下重复利用。我们将使用 2dnav_pr2 package作为学习案例。
- ROS在多机器人上的使用
本教程将展示如何在两台机器上使用ROS系统，详述了使用ROS_MASTER_URI来配置多台机器使用同一个master。
- 自定义消息
本教程将展示如何使用ROS Message Description Language来定义你自己的消息类型.
- 在python中使用C++类
本教程阐述一种在python中使用C++类的方法。
- 如何编写教程
（概述：）本教程介绍在编辑ros.org维基时可以用到的模板和宏定义，并附有示例以供参考。
--------
这期间可以参考部分ROS书籍，如机器人操作系统（ROS）浅析等。
然后进行案例学习，例如ROS机器人程序设计或ROS By Example 1 2两卷等。
同时，需要学习ROS专题，如下：
--------
ROS 函数库教程
Robot Model
Visualization
actionlib
pluginlib
nodelets
导航
ROS-Industrial Tutorials
ROS 接口的函数库教程
Stage
TF
PCL with ROS
--------
其他关于教材说明可以参考：http://blog.csdn.net/zhangrelay/article/details/53056245
--------
参考博客关于本课程的介绍和补充可以获得更好的学习效果。
indigo专栏：http://blog.csdn.net/column/details/13335.html
kinetic专栏：http://blog.csdn.net/column/details/13113.html
--------
部分书籍和系统备份方法在Documents文件夹：
----------------------------------------------------------------------------------------------------------------------------------
~~镜像中部分示例节选~~
TIAgo示例：
招手示意：
抓取和放置：
拐角识别：
人体识别：
×××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××
reemc示例：
reem示例：
～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～
附录：
ros by example示例节选
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_nav fake_nav_test.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz
relaybot@exbot-ThinkPad-T420s:~$ roslaunch pocketsphinx robocup.launch
relaybot@exbot-ThinkPad-T420s:~$ rostopic echo /recognizer/output
data: no
---
data: hello
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech voice_nav_commands.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech turtlebot_voice_nav.launch
relaybot@exbot-ThinkPad-T420s:~$ rqt_console
[INFO] [WallTime: 1489647557.650591] go move forward
[INFO] [WallTime: 1489647551.253540] Ready to receive voice commands
[INFO] [WallTime: 1489647557.652520] Command: forward
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision usb_cam.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun openni_tracker openni_tracker
[ INFO] [1489655631.531912640]: New User 1
[ INFO] [1489655632.494213298]: Pose Psi detected for user 1
[ INFO] [1489655644.459315818]: Lost user 1
[ INFO] [1489655653.171711624]: New User 1
[ INFO] [1489655656.975129018]: Pose Psi detected for user 1
[ INFO] [1489655669.117474462]: Lost user 1
[ INFO] [1489655709.434207386]: New User 1
[ INFO] [1489655731.720007590]: Pose Psi detected for user 1
[ INFO] [1489655746.866101386]: Lost user 1
relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_apps object_tracker.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_tasks fake_turtlebot.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz
relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks patrol_smach.py
relaybot@exbot-ThinkPad-T420s:~$ rosrun smach_viewer smach_viewer.py
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz
relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks clean_house_smach.py
relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks add_remove_tree.py
Creating Print Message task for Take me to your leader!
Creating counting task to 10
Behavior Tree Structure
--> PRINT_AND_COUNT
--> PRINT_MESSAGE
--> COUNT
Take
1
me
2
to
3
your
4
leader!
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_description pi_robot_with_two_arms.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_utils pub_3d_target.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true
relaybot@exbot-ThinkPad-T420s:~$ roslaunch pi_robot_moveit_config move_group.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find \
rbx2_arm_nav`/config/pick_and_place.rviz
relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_arm_nav moveit_pick_and_place_demo.py
http://unboundedrobotics.github.io/ubr1_preview/intro.html
relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_gazebo simulation_grasping.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_grasping grasping.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun ubr1_grasping pick_and_place.py --once
.............................................................................................................................................................
Learning ROS for Robotics Programming - Second Edition示例节选
第一章
relaybot@exbot-ThinkPad-T420s:~$ roscore
... logging to /home/relaybot/.ros/log/ada4bb56-0990-11e7-a6e3-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-3219.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://exbot-ThinkPad-T420s:38543/
ros_comm version 1.11.20
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
auto-starting new master
process[master]: started with pid [3231]
ROS_MASTER_URI=http://exbot-ThinkPad-T420s:11311/
setting /run_id to ada4bb56-0990-11e7-a6e3-0811968dc4b0
process[rosout-1]: started with pid [3244]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
第二章
relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter2_tutorials chap2_example4
[ INFO] [1489590444.510089537]: Reconfigure Request: 1 0.100000 Chapter2_dynamic_reconfigure True 1
[ INFO] [1489590444.513385410]: Spinning node
第三章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter3_tutorials example10.launch
第四章
relaybot@exbot-ThinkPad-T420s:~$ rosrun joy joy_node
[ INFO] [1489592223.223458700]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
---
header:
seq: 138
stamp:
secs: 1489592265
nsecs: 143842390
frame_id: ''
axes: [-0.35972166061401367, -0.0, -1.0, 0.07760214805603027, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
---
第五章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch usb_cam usb_cam-test.launch
第六章
relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter6_tutorials pcl_matching
第7章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch robot1_gazebo gazebo_wg.launch
第8章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro"
第9章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials move_base.launch
第10章
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_moveit_config demo.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_pick_and_place grasp_generator_server.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rosbook_arm_pick_and_place pick_and_place.py
----------
功能包编译，优先推荐catkin build。
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ catkin build--------------------------------------------------------------------------Profile: defaultExtending: [cached] /opt/ros/indigoWorkspace: /home/relaybot/Robotdemo_ws/tutorials--------------------------------------------------------------------------Source Space: [exists] /home/relaybot/Robotdemo_ws/tutorials/srcLog Space: [exists] /home/relaybot/Robotdemo_ws/tutorials/logsBuild Space: [exists] /home/relaybot/Robotdemo_ws/tutorials/buildDevel Space: [exists] /home/relaybot/Robotdemo_ws/tutorials/develInstall Space: [unused] /home/relaybot/Robotdemo_ws/tutorials/installDESTDIR: [unused] None--------------------------------------------------------------------------Devel Space Layout: linkedInstall Space Layout: None--------------------------------------------------------------------------Additional CMake Args: NoneAdditional Make Args: NoneAdditional catkin Make Args: NoneInternal Make Job Server: TrueCache Job Environments: False--------------------------------------------------------------------------Whitelisted Packages: NoneBlacklisted Packages: None--------------------------------------------------------------------------Workspace configuration appears valid.--------------------------------------------------------------------------[build] Found '28' packages in 0.0 seconds. [build] Package table is up to date. Starting >>> actionlib_tutorials Starting >>> interactive_marker_tutorials Starting >>> librviz_tutorial Starting >>> nodelet_tutorial_math Finished <<< nodelet_tutorial_math [ 0.2 seconds ] Starting >>> pluginlib_tutorials Finished <<< interactive_marker_tutorials [ 0.3 seconds ] Starting >>> roscpp_tutorials Finished <<< librviz_tutorial [ 0.2 seconds ] Finished <<< pluginlib_tutorials [ 0.2 seconds ] Finished <<< roscpp_tutorials [ 0.6 seconds ] Starting >>> rospy_tutorials Starting >>> rosserial_msgs Starting >>> rviz_plugin_tutorials Finished <<< actionlib_tutorials [ 1.0 seconds ] Starting >>> rviz_python_tutorial Finished <<< rviz_plugin_tutorials [ 0.2 seconds ] Finished <<< rviz_python_tutorial [ 0.2 seconds ] Starting >>> turtlesim Finished <<< rospy_tutorials [ 0.5 seconds ] Starting >>> urdf_tutorial Starting >>> visualization_marker_tutorials Finished <<< rosserial_msgs [ 0.5 seconds ] Starting >>> rosserial_client Finished <<< visualization_marker_tutorials [ 0.2 seconds ] Starting >>> rosserial_python Finished <<< urdf_tutorial [ 0.2 seconds ] Finished <<< rosserial_client [ 0.2 seconds ] Starting >>> rosserial_arduino Finished <<< rosserial_python [ 0.2 seconds ] Starting >>> rosserial_embeddedlinux Starting >>> rosserial_windows Finished <<< turtlesim [ 0.7 seconds ] Starting >>> rosserial_server Finished <<< rosserial_arduino [ 0.3 seconds ] Starting >>> rosserial_xbee Finished <<< rosserial_embeddedlinux [ 0.2 seconds ] Starting >>> turtle_actionlib Finished <<< rosserial_windows [ 0.2 seconds ] Starting >>> turtle_tf Finished <<< rosserial_server [ 0.2 seconds ] Starting >>> turtle_tf2 Finished <<< rosserial_xbee [ 0.2 seconds ] Finished <<< turtle_tf2 [ 1.2 seconds ] Finished <<< turtle_tf [ 1.5 seconds ] Finished <<< turtle_actionlib [ 1.6 seconds ] [build] Summary: All 23 packages succeeded! [build] Ignored: 5 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 4.6 seconds total. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ catkin build---------------------------------------------------------------------Profile: defaultExtending: [cached] /opt/ros/indigoWorkspace: /home/relaybot/Robotdemo_ws/reem---------------------------------------------------------------------Source Space: [exists] /home/relaybot/Robotdemo_ws/reem/srcLog Space: [exists] /home/relaybot/Robotdemo_ws/reem/logsBuild Space: [exists] /home/relaybot/Robotdemo_ws/reem/buildDevel Space: [exists] /home/relaybot/Robotdemo_ws/reem/develInstall Space: [unused] /home/relaybot/Robotdemo_ws/reem/installDESTDIR: [unused] None---------------------------------------------------------------------Devel Space Layout: linkedInstall Space Layout: None---------------------------------------------------------------------Additional CMake Args: NoneAdditional Make Args: NoneAdditional catkin Make Args: NoneInternal Make Job Server: TrueCache Job Environments: False---------------------------------------------------------------------Whitelisted Packages: NoneBlacklisted Packages: None---------------------------------------------------------------------Workspace configuration appears valid.---------------------------------------------------------------------[build] Found '41' packages in 0.0 seconds. [build] Package table is up to date. Starting >>> follow_planner Starting >>> head_action Starting >>> joy_teleop Starting >>> key_teleop Finished <<< key_teleop [ 0.2 seconds ]Starting >>> object_recognition_clusters Finished <<< follow_planner [ 0.3 seconds ]Starting >>> pal_behaviour_msgs Finished <<< joy_teleop [ 0.2 seconds ]Starting >>> pal_common_msgs Finished <<< object_recognition_clusters [ 0.3 seconds ]Starting >>> pal_control_msgs Finished <<< head_action [ 1.6 seconds ]Starting >>> pal_detection_msgs Finished <<< pal_common_msgs [ 1.4 seconds ]Starting >>> pal_device_msgs Finished <<< pal_control_msgs [ 1.4 seconds ]Finished <<< pal_behaviour_msgs [ 2.1 seconds ]Starting >>> pal_interaction_msgs Finished <<< pal_device_msgs [ 0.9 seconds ]Starting >>> pal_motion_model_msgs Finished <<< pal_detection_msgs [ 1.8 seconds ]Starting >>> pal_multirobot_msgs Finished <<< pal_motion_model_msgs [ 1.0 seconds ]Starting >>> pal_navigation_msgs Finished <<< pal_multirobot_msgs [ 1.1 seconds ]Finished <<< pal_interaction_msgs [ 2.6 seconds ]Starting >>> pal_tablet_msgs Starting >>> pal_video_recording_msgs Starting >>> pal_vision_msgs Finished <<< pal_navigation_msgs [ 3.2 seconds ]Starting >>> pal_walking_msgs Finished <<< pal_tablet_msgs [ 1.2 seconds ]Starting >>> pal_wifi_localization_msgs Finished <<< pal_video_recording_msgs [ 1.2 seconds ]Starting >>> reem_2dnav Finished <<< reem_2dnav [ 0.6 seconds ]Starting >>> reem_controller_configuration Finished <<< reem_controller_configuration [ 0.5 seconds ]Finished <<< pal_walking_msgs [ 1.9 seconds ]Finished <<< pal_wifi_localization_msgs [ 2.2 seconds ]Starting >>> reem_controller_configuration_gazebo Starting >>> reem_hardware_gazebo Starting >>> reem_maps Finished <<< pal_vision_msgs [ 3.5 seconds ]Starting >>> reem_object_recognition Finished <<< reem_controller_configuration_gazebo [ 0.4 seconds ]Starting >>> reem_rgbd_launch Finished <<< reem_hardware_gazebo [ 0.5 seconds ]Starting >>> twist_mux_msgs Finished <<< reem_maps [ 0.4 seconds ]Starting >>> reem_tabletop_grasping Finished <<< reem_object_recognition [ 0.3 seconds ]Starting >>> pal_gazebo_plugins Finished <<< reem_rgbd_launch [ 0.4 seconds ]Finished <<< pal_gazebo_plugins [ 1.1 seconds ]Finished <<< twist_mux_msgs [ 2.2 seconds ]Starting >>> reem_description Starting >>> twist_mux Finished <<< reem_tabletop_grasping [ 2.3 seconds ]Finished <<< reem_description [ 0.4 seconds ]Starting >>> reem_moveit_config Finished <<< twist_mux [ 0.4 seconds ]Finished <<< reem_moveit_config [ 0.3 seconds ]Starting >>> reem_bringup Finished <<< reem_bringup [ 0.3 seconds ]Starting >>> reem_gazebo Finished <<< reem_gazebo [ 0.3 seconds ]Starting >>> reem_2dnav_gazebo Finished <<< reem_2dnav_gazebo [ 0.3 seconds ][build] Summary: All 35 packages succeeded! [build] Ignored: 6 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 16.3 seconds total. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ catkin build ----------------------------------------------------------------------Profile: defaultExtending: [cached] /opt/ros/indigoWorkspace: /home/relaybot/Robotdemo_ws/reemc----------------------------------------------------------------------Source Space: [exists] /home/relaybot/Robotdemo_ws/reemc/srcLog Space: [exists] /home/relaybot/Robotdemo_ws/reemc/logsBuild Space: [exists] /home/relaybot/Robotdemo_ws/reemc/buildDevel Space: [exists] /home/relaybot/Robotdemo_ws/reemc/develInstall Space: [unused] /home/relaybot/Robotdemo_ws/reemc/installDESTDIR: [unused] None----------------------------------------------------------------------Devel Space Layout: linkedInstall Space Layout: None----------------------------------------------------------------------Additional CMake Args: NoneAdditional Make Args: NoneAdditional catkin Make Args: NoneInternal Make Job Server: TrueCache Job Environments: False----------------------------------------------------------------------Whitelisted Packages: NoneBlacklisted Packages: None--------------------------------------------------------------------------------------------------------------------------------------------WARNING: Your current environment's CMAKE_PREFIX_PATH is differentfrom the cached CMAKE_PREFIX_PATH used the last time this workspacewas built.If you want to use a different CMAKE_PREFIX_PATH you should call`catkin clean` to remove all references to the previousCMAKE_PREFIX_PATH.Cached CMAKE_PREFIX_PATH:/opt/ros/indigoCurrent CMAKE_PREFIX_PATH:/home/relaybot/catkin_ws/devel:/opt/ros/indigo----------------------------------------------------------------------[build] Found '38' packages in 0.0 seconds. [build] Package table is up to date. Starting >>> gazebo_msgs Starting >>> head_action Starting >>> joy_teleop Starting >>> key_teleop Finished <<< key_teleop [ 0.3 seconds ]Finished <<< joy_teleop [ 0.4 seconds ]Starting >>> pal_behaviour_msgs Finished <<< head_action [ 1.4 seconds ]Starting >>> pal_common_msgs Starting >>> pal_control_msgs Finished <<< gazebo_msgs [ 2.9 seconds ]Starting >>> pal_detection_msgs Finished <<< pal_behaviour_msgs [ 2.4 seconds ]Starting >>> pal_device_msgs Finished <<< pal_common_msgs [ 2.3 seconds ]Starting >>> pal_interaction_msgs Finished <<< pal_control_msgs [ 2.5 seconds ]Starting >>> pal_motion_model_msgs Finished <<< pal_device_msgs [ 2.4 seconds ]Starting >>> pal_multirobot_msgs Finished <<< pal_motion_model_msgs [ 1.9 seconds ]Starting >>> pal_navigation_msgs Finished <<< pal_multirobot_msgs [ 1.5 seconds ]Finished <<< pal_detection_msgs [ 4.3 seconds ]Starting >>> pal_tablet_msgs Finished <<< pal_tablet_msgs [ 1.3 seconds ]Finished <<< pal_interaction_msgs [ 5.2 seconds ]Starting >>> pal_video_recording_msgs Finished <<< pal_video_recording_msgs [ 1.2 seconds ]Starting >>> pal_vision_msgs Finished <<< pal_navigation_msgs [ 5.1 seconds ]Starting >>> pal_walking_msgs Finished <<< pal_vision_msgs [ 2.2 seconds ]Starting >>> pal_wifi_localization_msgs Starting >>> play_motion_msgs Starting >>> reemc_controller_configuration Finished <<< pal_walking_msgs [ 1.1 seconds ]Starting >>> reemc_controller_configuration_gazebo Finished <<< reemc_controller_configuration [ 0.2 seconds ]Starting >>> reemc_description Finished <<< reemc_controller_configuration_gazebo [ 0.3 seconds ]Starting >>> twist_mux_msgs Finished <<< reemc_description [ 0.3 seconds ]Finished <<< pal_wifi_localization_msgs [ 1.4 seconds ]Starting >>> gazebo_ros Finished <<< play_motion_msgs [ 1.6 seconds ]Starting >>> pal_gazebo_plugins Finished <<< gazebo_ros [ 0.5 seconds ]Starting >>> play_motion Starting >>> gazebo_plugins Finished <<< twist_mux_msgs [ 1.5 seconds ]Starting >>> gazebo_ros_control Finished <<< pal_gazebo_plugins [ 0.6 seconds ]Starting >>> twist_mux Finished <<< play_motion [ 0.5 seconds ]Finished <<< gazebo_ros_control [ 0.5 seconds ]Starting >>> reemc_hardware_gazebo Finished <<< twist_mux [ 0.4 seconds ]Starting >>> reemc_bringup Finished <<< reemc_hardware_gazebo [ 0.5 seconds ]Finished <<< reemc_bringup [ 0.4 seconds ]Finished <<< gazebo_plugins [ 2.4 seconds ]Starting >>> reemc_gazebo Finished <<< reemc_gazebo [ 0.2 seconds ]Starting >>> reemc_moveit_config Finished <<< reemc_moveit_config [ 0.2 seconds ][build] Summary: All 33 packages succeeded! [build] Ignored: 5 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 19.9 seconds total. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ catkin build---------------------------------------------------------------------------Profile: defaultExtending: [cached] /home/relaybot/catkin_ws/devel:/opt/ros/indigoWorkspace: /home/relaybot/Robotdemo_ws/tiago---------------------------------------------------------------------------Source Space: [exists] /home/relaybot/Robotdemo_ws/tiago/srcLog Space: [exists] /home/relaybot/Robotdemo_ws/tiago/logsBuild Space: [exists] /home/relaybot/Robotdemo_ws/tiago/buildDevel Space: [exists] /home/relaybot/Robotdemo_ws/tiago/develInstall Space: [unused] /home/relaybot/Robotdemo_ws/tiago/installDESTDIR: [unused] None---------------------------------------------------------------------------Devel Space Layout: linkedInstall Space Layout: None---------------------------------------------------------------------------Additional CMake Args: NoneAdditional Make Args: NoneAdditional catkin Make Args: NoneInternal Make Job Server: TrueCache Job Environments: False---------------------------------------------------------------------------Whitelisted Packages: NoneBlacklisted Packages: None---------------------------------------------------------------------------Workspace configuration appears valid.---------------------------------------------------------------------------[build] Found '90' packages in 0.0 seconds. [build] Package table is up to date. Starting >>> aruco Starting >>> aruco_msgs Starting >>> controller_manager_msgs Starting >>> ddynamic_reconfigure_python Finished <<< aruco [ 0.5 seconds ]Starting >>> hardware_interface Finished <<< ddynamic_reconfigure_python [ 0.4 seconds ]Starting >>> head_action Finished <<< hardware_interface [ 0.5 seconds ]Starting >>> hey5_description Finished <<< aruco_msgs [ 1.6 seconds ]Finished <<< hey5_description [ 0.6 seconds ]Starting >>> look_hand Finished <<< controller_manager_msgs [ 2.3 seconds ]Starting >>> look_to_point Finished <<< look_hand [ 0.6 seconds ]Starting >>> pal_behaviour_msgs Starting >>> pal_common_msgs Finished <<< look_to_point [ 0.6 seconds ]Starting >>> pal_control_msgs Finished <<< head_action [ 2.0 seconds ]Starting >>> pal_detection_msgs Finished <<< pal_control_msgs [ 3.0 seconds ]Starting >>> pal_device_msgs Finished <<< pal_behaviour_msgs [ 4.2 seconds ]Starting >>> pal_gripper_description Finished <<< pal_common_msgs [ 3.9 seconds ]Starting >>> pal_interaction_msgs Finished <<< pal_gripper_description [ 0.5 seconds ]Starting >>> pal_motion_model_msgs Finished <<< pal_detection_msgs [ 4.8 seconds ]Finished <<< pal_device_msgs [ 2.4 seconds ]Starting >>> pal_multirobot_msgs Finished <<< pal_motion_model_msgs [ 1.8 seconds ]Starting >>> pal_navigation_msgs Finished <<< pal_multirobot_msgs [ 1.3 seconds ]Finished <<< pal_interaction_msgs [ 4.2 seconds ]Starting >>> pal_tablet_msgs Finished <<< pal_tablet_msgs [ 1.0 seconds ]Starting >>> pal_video_recording_msgs Finished <<< pal_video_recording_msgs [ 0.8 seconds ]Starting >>> pal_vision_msgs Starting >>> pal_visual_localization_msgs Starting >>> pal_walking_msgs Finished <<< pal_navigation_msgs [ 4.4 seconds ]Starting >>> pal_web_msgs Finished <<< pal_walking_msgs [ 1.3 seconds ]Finished <<< pal_web_msgs [ 0.8 seconds ]Starting >>> pal_wifi_localization_msgs Finished <<< pal_wifi_localization_msgs [ 1.0 seconds ]Starting >>> play_motion_msgs Finished <<< pal_visual_localization_msgs [ 2.3 seconds ]Starting >>> play_with_sensors Starting >>> pmb2_controller_configuration_gazebo Finished <<< pal_vision_msgs [ 2.8 seconds ]Starting >>> rviz_plugin_covariance Finished <<< play_with_sensors [ 0.2 seconds ]Finished <<< pmb2_controller_configuration_gazebo [ 0.2 seconds ]Starting >>> tf_lookup Finished <<< play_motion_msgs [ 0.7 seconds ]Starting >>> tiago_laser_sensors Starting >>> tiago_maps Finished <<< rviz_plugin_covariance [ 0.3 seconds ]Starting >>> tiago_moveit_config Finished <<< tiago_maps [ 0.2 seconds ]Starting >>> tiago_moveit_tutorial Finished <<< tiago_laser_sensors [ 0.2 seconds ]Starting >>> tiago_pcl_tutorial Finished <<< tiago_moveit_config [ 0.2 seconds ]Finished <<< tf_lookup [ 1.0 seconds ]Finished <<< tiago_moveit_tutorial [ 0.8 seconds ]Starting >>> tts Starting >>> pal_parallel_gripper_wrapper Finished <<< tiago_pcl_tutorial [ 0.8 seconds ]Starting >>> controller_interface Starting >>> joint_limits_interface Finished <<< tts [ 0.1 seconds ]Starting >>> transmission_interface Finished <<< pal_parallel_gripper_wrapper [ 0.1 seconds ]Starting >>> aruco_ros Finished <<< controller_interface [ 0.1 seconds ]Starting >>> rqt_joint_trajectory_controller Finished <<< joint_limits_interface [ 0.1 seconds ]Starting >>> pal_person_detector_opencv Finished <<< transmission_interface [ 0.2 seconds ]Starting >>> tiago_opencv_tutorial Finished <<< rqt_joint_trajectory_controller [ 0.2 seconds ]Starting >>> pal_gazebo_plugins Finished <<< aruco_ros [ 0.3 seconds ]Starting >>> pal_python Finished <<< pal_person_detector_opencv [ 0.2 seconds ]Starting >>> say_something Finished <<< pal_python [ 0.2 seconds ]Starting >>> demo_motions Finished <<< tiago_opencv_tutorial [ 0.5 seconds ]Starting >>> run_motion Finished <<< pal_gazebo_plugins [ 0.4 seconds ]Starting >>> controller_manager Finished <<< say_something [ 0.2 seconds ]Starting >>> force_torque_sensor_controller Finished <<< demo_motions [ 0.5 seconds ]Starting >>> forward_command_controller Finished <<< force_torque_sensor_controller [ 0.2 seconds ]Finished <<< run_motion [ 0.6 seconds ]Starting >>> imu_sensor_controller Starting >>> joint_state_controller Finished <<< controller_manager [ 0.5 seconds ]Starting >>> tiago_aruco_demo Finished <<< forward_command_controller [ 0.2 seconds ]Starting >>> tiago_pick_demo Finished <<< imu_sensor_controller [ 0.2 seconds ]Starting >>> pal_navigation_sm Finished <<< joint_state_controller [ 0.2 seconds ]Starting >>> pmb2_description Finished <<< tiago_aruco_demo [ 0.1 seconds ]Starting >>> controller_manager_tests Finished <<< pal_navigation_sm [ 0.1 seconds ]Starting >>> diff_drive_controller Finished <<< pmb2_description [ 0.2 seconds ]Starting >>> joint_trajectory_controller Finished <<< controller_manager_tests [ 0.3 seconds ]Finished <<< tiago_pick_demo [ 0.7 seconds ]Finished <<< joint_trajectory_controller [ 0.3 seconds ]Starting >>> rqt_controller_manager Starting >>> gazebo_ros_control Starting >>> effort_controllers Finished <<< diff_drive_controller [ 0.4 seconds ]Starting >>> position_controllers Finished <<< gazebo_ros_control [ 0.2 seconds ]Starting >>> velocity_controllers Finished <<< effort_controllers [ 0.2 seconds ]Starting >>> play_motion Finished <<< rqt_controller_manager [ 0.1 seconds ]Starting >>> tiago_2dnav Finished <<< position_controllers [ 0.2 seconds ]Starting >>> tiago_description Finished <<< velocity_controllers [ 0.2 seconds ]Starting >>> pmb2_controller_configuration Finished <<< tiago_2dnav [ 0.2 seconds ]Starting >>> pal_hardware_gazebo Finished <<< play_motion [ 0.3 seconds ]Starting >>> pal_gripper_controller_configuration Finished <<< tiago_description [ 0.1 seconds ]Starting >>> tiago_controller_configuration_gazebo Finished <<< pmb2_controller_configuration [ 0.1 seconds ]Starting >>> pmb2_bringup Finished <<< pal_hardware_gazebo [ 0.2 seconds ]Starting >>> pal_gripper_gazebo Finished <<< pal_gripper_controller_configuration [ 0.1 seconds ]Starting >>> pal_gripper Finished <<< tiago_controller_configuration_gazebo [ 0.1 seconds ]Finished <<< pmb2_bringup [ 0.1 seconds ]Starting >>> pmb2_gazebo Starting >>> tiago_bringup Finished <<< pal_gripper_gazebo [ 0.1 seconds ]Finished <<< pal_gripper [ 0.1 seconds ]Finished <<< pmb2_gazebo [ 0.1 seconds ]Finished <<< tiago_bringup [ 0.1 seconds ]Starting >>> tiago_gazebo Finished <<< tiago_gazebo [ 0.1 seconds ]Starting >>> tiago_2dnav_gazebo Starting >>> tiago_multi Finished <<< tiago_multi [ 0.1 seconds ]Finished <<< tiago_2dnav_gazebo [ 0.1 seconds ][build] Summary: All 82 packages succeeded! [build] Ignored: 8 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: None. [build] Failed: None. [build] Runtime: 23.9 seconds total. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$
----------
最后补充实时ROS2文档，之前版本是ROS1，如下：
关于ROS 2
- ROS 2概念概述
- DDS和ROS中间件实现
- ROS 2客户端库
- 关于ROS接口
- 关于服务质量设置
ROS 2教程
- 从二进制和源代码，所有平台安装
- 使用ament构建自定义包
- 使用多个RMW实现
- 在单个进程中组合多个节点
- 定义自定义接口（msg / srv）
- ROS 2接口中的新功能（msg srv）
高级
- 实现自定义内存分配器
ROS 2演示
- 使用服务质量设置来处理有损网络
- 管理节点
- 高效的进程内通信
- ROS 1和ROS 2之间的桥接通信
- 使用ROS 1桥接器通过rosbag记录和回放主题数据
- Turtlebot 2演示使用ROS 2
- 使用tf2与ROS 2
- 编写使用ROS 2 API的实时安全代码
- 使用rclpy API在Python中编写ROS 2程序
----------
-End-
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