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大学本科《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 )

2017年05月21日 ROS 评论 2 条 阅读 1,021 次

本镜像主要针对机器人程序设计本科课程(授课人:RelayZhang老师),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 |

----------------------------------------------------------

U盘镜像可以使用Universal-USB-InstallerUltraISO,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.

切换行号显示

   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。

切换行号显示

   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

  1. 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。
  2. 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。
  3. 创建ROS程序包本教程介绍如何使用roscreate-pkgcatkin创建一个新程序包,并使用rospack查看程序包的依赖关系。
  4. 编译ROS程序包本教程介绍ROS程序包的编译方法
  5. 理解 ROS节点本教程主要介绍 ROS 图(graph)概念 并讨论roscorerosnoderosrun 命令行工具的使用。
  6. 理解ROS话题本教程介绍ROS话题(topics)以及如何使用rostopicrxplot 命令行工具。
  7. 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rosservicerosparam的使用方法。
  8. 使用 rqt_console 和 roslaunch本教程介绍如何使用rqt_consolerqt_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。
  9. 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。
  10. 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。
  11. 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。
  12. 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。
  13. 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。
  14. 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。
  15. 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。
  16. 测试简单的Service和Client本教程将测试之前所写的Service和Client。
  17. 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。
  18. roswtf入门本教程介绍了roswtf工具的基本使用方法。
  19. 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。
  20. 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 (roscpprospyroslisp) 中找到。

  1. 手动创建ROS package本教程将展示如何手动创建ROS package
  2. 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.
  3. 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。
  4. 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。
  5. 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.
  6. 在python中使用C++类本教程阐述一种在python中使用C++类的方法。
  7. 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

ROS 接口的函数库教程

 

--------

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。

  1. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ catkin build
  2. --------------------------------------------------------------------------
  3. Profile:                     default
  4. Extending:          [cached] /opt/ros/indigo
  5. Workspace:                   /home/relaybot/Robotdemo_ws/tutorials
  6. --------------------------------------------------------------------------
  7. Source Space:       [exists] /home/relaybot/Robotdemo_ws/tutorials/src
  8. Log Space:          [exists] /home/relaybot/Robotdemo_ws/tutorials/logs
  9. Build Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/build
  10. Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/devel
  11. Install Space:      [unused] /home/relaybot/Robotdemo_ws/tutorials/install
  12. DESTDIR:            [unused] None
  13. --------------------------------------------------------------------------
  14. Devel Space Layout:          linked
  15. Install Space Layout:        None
  16. --------------------------------------------------------------------------
  17. Additional CMake Args:       None
  18. Additional Make Args:        None
  19. Additional catkin Make Args: None
  20. Internal Make Job Server:    True
  21. Cache Job Environments:      False
  22. --------------------------------------------------------------------------
  23. Whitelisted Packages:        None
  24. Blacklisted Packages:        None
  25. --------------------------------------------------------------------------
  26. Workspace configuration appears valid.
  27. --------------------------------------------------------------------------
  28. [build] Found '28' packages in 0.0 seconds.
  29. [build] Package table is up to date.
  30. Starting  >>> actionlib_tutorials
  31. Starting  >>> interactive_marker_tutorials
  32. Starting  >>> librviz_tutorial
  33. Starting  >>> nodelet_tutorial_math
  34. Finished  <<< nodelet_tutorial_math                         [ 0.2 seconds ]
  35. Starting  >>> pluginlib_tutorials
  36. Finished  <<< interactive_marker_tutorials                  [ 0.3 seconds ]
  37. Starting  >>> roscpp_tutorials
  38. Finished  <<< librviz_tutorial                              [ 0.2 seconds ]
  39. Finished  <<< pluginlib_tutorials                           [ 0.2 seconds ]
  40. Finished  <<< roscpp_tutorials                              [ 0.6 seconds ]
  41. Starting  >>> rospy_tutorials
  42. Starting  >>> rosserial_msgs
  43. Starting  >>> rviz_plugin_tutorials
  44. Finished  <<< actionlib_tutorials                           [ 1.0 seconds ]
  45. Starting  >>> rviz_python_tutorial
  46. Finished  <<< rviz_plugin_tutorials                         [ 0.2 seconds ]
  47. Finished  <<< rviz_python_tutorial                          [ 0.2 seconds ]
  48. Starting  >>> turtlesim
  49. Finished  <<< rospy_tutorials                               [ 0.5 seconds ]
  50. Starting  >>> urdf_tutorial
  51. Starting  >>> visualization_marker_tutorials
  52. Finished  <<< rosserial_msgs                                [ 0.5 seconds ]
  53. Starting  >>> rosserial_client
  54. Finished  <<< visualization_marker_tutorials                [ 0.2 seconds ]
  55. Starting  >>> rosserial_python
  56. Finished  <<< urdf_tutorial                                 [ 0.2 seconds ]
  57. Finished  <<< rosserial_client                              [ 0.2 seconds ]
  58. Starting  >>> rosserial_arduino
  59. Finished  <<< rosserial_python                              [ 0.2 seconds ]
  60. Starting  >>> rosserial_embeddedlinux
  61. Starting  >>> rosserial_windows
  62. Finished  <<< turtlesim                                     [ 0.7 seconds ]
  63. Starting  >>> rosserial_server
  64. Finished  <<< rosserial_arduino                             [ 0.3 seconds ]
  65. Starting  >>> rosserial_xbee
  66. Finished  <<< rosserial_embeddedlinux                       [ 0.2 seconds ]
  67. Starting  >>> turtle_actionlib
  68. Finished  <<< rosserial_windows                             [ 0.2 seconds ]
  69. Starting  >>> turtle_tf
  70. Finished  <<< rosserial_server                              [ 0.2 seconds ]
  71. Starting  >>> turtle_tf2
  72. Finished  <<< rosserial_xbee                                [ 0.2 seconds ]
  73. Finished  <<< turtle_tf2                                    [ 1.2 seconds ]
  74. Finished  <<< turtle_tf                                     [ 1.5 seconds ]
  75. Finished  <<< turtle_actionlib                              [ 1.6 seconds ]
  76. [build] Summary: All 23 packages succeeded!
  77. [build]   Ignored:   5 packages were skipped or are blacklisted.
  78. [build]   Warnings:  None.
  79. [build]   Abandoned: None.
  80. [build]   Failed:    None.
  81. [build] Runtime: 4.6 seconds total.
  82. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$

 

  1. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ catkin build
  2. ---------------------------------------------------------------------
  3. Profile:                     default
  4. Extending:          [cached] /opt/ros/indigo
  5. Workspace:                   /home/relaybot/Robotdemo_ws/reem
  6. ---------------------------------------------------------------------
  7. Source Space:       [exists] /home/relaybot/Robotdemo_ws/reem/src
  8. Log Space:          [exists] /home/relaybot/Robotdemo_ws/reem/logs
  9. Build Space:        [exists] /home/relaybot/Robotdemo_ws/reem/build
  10. Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reem/devel
  11. Install Space:      [unused] /home/relaybot/Robotdemo_ws/reem/install
  12. DESTDIR:            [unused] None
  13. ---------------------------------------------------------------------
  14. Devel Space Layout:          linked
  15. Install Space Layout:        None
  16. ---------------------------------------------------------------------
  17. Additional CMake Args:       None
  18. Additional Make Args:        None
  19. Additional catkin Make Args: None
  20. Internal Make Job Server:    True
  21. Cache Job Environments:      False
  22. ---------------------------------------------------------------------
  23. Whitelisted Packages:        None
  24. Blacklisted Packages:        None
  25. ---------------------------------------------------------------------
  26. Workspace configuration appears valid.
  27. ---------------------------------------------------------------------
  28. [build] Found '41' packages in 0.0 seconds.
  29. [build] Package table is up to date.
  30. Starting  >>> follow_planner
  31. Starting  >>> head_action
  32. Starting  >>> joy_teleop
  33. Starting  >>> key_teleop
  34. Finished  <<< key_teleop                                          [ 0.2 seconds ]
  35. Starting  >>> object_recognition_clusters
  36. Finished  <<< follow_planner                                      [ 0.3 seconds ]
  37. Starting  >>> pal_behaviour_msgs
  38. Finished  <<< joy_teleop                                          [ 0.2 seconds ]
  39. Starting  >>> pal_common_msgs
  40. Finished  <<< object_recognition_clusters                         [ 0.3 seconds ]
  41. Starting  >>> pal_control_msgs
  42. Finished  <<< head_action                                         [ 1.6 seconds ]
  43. Starting  >>> pal_detection_msgs
  44. Finished  <<< pal_common_msgs                                     [ 1.4 seconds ]
  45. Starting  >>> pal_device_msgs
  46. Finished  <<< pal_control_msgs                                    [ 1.4 seconds ]
  47. Finished  <<< pal_behaviour_msgs                                  [ 2.1 seconds ]
  48. Starting  >>> pal_interaction_msgs
  49. Finished  <<< pal_device_msgs                                     [ 0.9 seconds ]
  50. Starting  >>> pal_motion_model_msgs
  51. Finished  <<< pal_detection_msgs                                  [ 1.8 seconds ]
  52. Starting  >>> pal_multirobot_msgs
  53. Finished  <<< pal_motion_model_msgs                               [ 1.0 seconds ]
  54. Starting  >>> pal_navigation_msgs
  55. Finished  <<< pal_multirobot_msgs                                 [ 1.1 seconds ]
  56. Finished  <<< pal_interaction_msgs                                [ 2.6 seconds ]
  57. Starting  >>> pal_tablet_msgs
  58. Starting  >>> pal_video_recording_msgs
  59. Starting  >>> pal_vision_msgs
  60. Finished  <<< pal_navigation_msgs                                 [ 3.2 seconds ]
  61. Starting  >>> pal_walking_msgs
  62. Finished  <<< pal_tablet_msgs                                     [ 1.2 seconds ]
  63. Starting  >>> pal_wifi_localization_msgs
  64. Finished  <<< pal_video_recording_msgs                            [ 1.2 seconds ]
  65. Starting  >>> reem_2dnav
  66. Finished  <<< reem_2dnav                                          [ 0.6 seconds ]
  67. Starting  >>> reem_controller_configuration
  68. Finished  <<< reem_controller_configuration                       [ 0.5 seconds ]
  69. Finished  <<< pal_walking_msgs                                    [ 1.9 seconds ]
  70. Finished  <<< pal_wifi_localization_msgs                          [ 2.2 seconds ]
  71. Starting  >>> reem_controller_configuration_gazebo
  72. Starting  >>> reem_hardware_gazebo
  73. Starting  >>> reem_maps
  74. Finished  <<< pal_vision_msgs                                     [ 3.5 seconds ]
  75. Starting  >>> reem_object_recognition
  76. Finished  <<< reem_controller_configuration_gazebo                [ 0.4 seconds ]
  77. Starting  >>> reem_rgbd_launch
  78. Finished  <<< reem_hardware_gazebo                                [ 0.5 seconds ]
  79. Starting  >>> twist_mux_msgs
  80. Finished  <<< reem_maps                                           [ 0.4 seconds ]
  81. Starting  >>> reem_tabletop_grasping
  82. Finished  <<< reem_object_recognition                             [ 0.3 seconds ]
  83. Starting  >>> pal_gazebo_plugins
  84. Finished  <<< reem_rgbd_launch                                    [ 0.4 seconds ]
  85. Finished  <<< pal_gazebo_plugins                                  [ 1.1 seconds ]
  86. Finished  <<< twist_mux_msgs                                      [ 2.2 seconds ]
  87. Starting  >>> reem_description
  88. Starting  >>> twist_mux
  89. Finished  <<< reem_tabletop_grasping                              [ 2.3 seconds ]
  90. Finished  <<< reem_description                                    [ 0.4 seconds ]
  91. Starting  >>> reem_moveit_config
  92. Finished  <<< twist_mux                                           [ 0.4 seconds ]
  93. Finished  <<< reem_moveit_config                                  [ 0.3 seconds ]
  94. Starting  >>> reem_bringup
  95. Finished  <<< reem_bringup                                        [ 0.3 seconds ]
  96. Starting  >>> reem_gazebo
  97. Finished  <<< reem_gazebo                                         [ 0.3 seconds ]
  98. Starting  >>> reem_2dnav_gazebo
  99. Finished  <<< reem_2dnav_gazebo                                   [ 0.3 seconds ]
  100. [build] Summary: All 35 packages succeeded!
  101. [build]   Ignored:   6 packages were skipped or are blacklisted.
  102. [build]   Warnings:  None.
  103. [build]   Abandoned: None.
  104. [build]   Failed:    None.
  105. [build] Runtime: 16.3 seconds total.
  106. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$

 

  1. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ catkin build
  2. ----------------------------------------------------------------------
  3. Profile:                     default
  4. Extending:          [cached] /opt/ros/indigo
  5. Workspace:                   /home/relaybot/Robotdemo_ws/reemc
  6. ----------------------------------------------------------------------
  7. Source Space:       [exists] /home/relaybot/Robotdemo_ws/reemc/src
  8. Log Space:          [exists] /home/relaybot/Robotdemo_ws/reemc/logs
  9. Build Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/build
  10. Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/devel
  11. Install Space:      [unused] /home/relaybot/Robotdemo_ws/reemc/install
  12. DESTDIR:            [unused] None
  13. ----------------------------------------------------------------------
  14. Devel Space Layout:          linked
  15. Install Space Layout:        None
  16. ----------------------------------------------------------------------
  17. Additional CMake Args:       None
  18. Additional Make Args:        None
  19. Additional catkin Make Args: None
  20. Internal Make Job Server:    True
  21. Cache Job Environments:      False
  22. ----------------------------------------------------------------------
  23. Whitelisted Packages:        None
  24. Blacklisted Packages:        None
  25. ----------------------------------------------------------------------
  26. ----------------------------------------------------------------------
  27. WARNING: Your current environment's CMAKE_PREFIX_PATH is different
  28. from the cached CMAKE_PREFIX_PATH used the last time this workspace
  29. was built.
  30. If you want to use a different CMAKE_PREFIX_PATH you should call
  31. `catkin clean` to remove all references to the previous
  32. CMAKE_PREFIX_PATH.
  33. Cached CMAKE_PREFIX_PATH:
  34.     /opt/ros/indigo
  35. Current CMAKE_PREFIX_PATH:
  36.     /home/relaybot/catkin_ws/devel:/opt/ros/indigo
  37. ----------------------------------------------------------------------
  38. [build] Found '38' packages in 0.0 seconds.
  39. [build] Package table is up to date.
  40. Starting  >>> gazebo_msgs
  41. Starting  >>> head_action
  42. Starting  >>> joy_teleop
  43. Starting  >>> key_teleop
  44. Finished  <<< key_teleop                                           [ 0.3 seconds ]
  45. Finished  <<< joy_teleop                                           [ 0.4 seconds ]
  46. Starting  >>> pal_behaviour_msgs
  47. Finished  <<< head_action                                          [ 1.4 seconds ]
  48. Starting  >>> pal_common_msgs
  49. Starting  >>> pal_control_msgs
  50. Finished  <<< gazebo_msgs                                          [ 2.9 seconds ]
  51. Starting  >>> pal_detection_msgs
  52. Finished  <<< pal_behaviour_msgs                                   [ 2.4 seconds ]
  53. Starting  >>> pal_device_msgs
  54. Finished  <<< pal_common_msgs                                      [ 2.3 seconds ]
  55. Starting  >>> pal_interaction_msgs
  56. Finished  <<< pal_control_msgs                                     [ 2.5 seconds ]
  57. Starting  >>> pal_motion_model_msgs
  58. Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
  59. Starting  >>> pal_multirobot_msgs
  60. Finished  <<< pal_motion_model_msgs                                [ 1.9 seconds ]
  61. Starting  >>> pal_navigation_msgs
  62. Finished  <<< pal_multirobot_msgs                                  [ 1.5 seconds ]
  63. Finished  <<< pal_detection_msgs                                   [ 4.3 seconds ]
  64. Starting  >>> pal_tablet_msgs
  65. Finished  <<< pal_tablet_msgs                                      [ 1.3 seconds ]
  66. Finished  <<< pal_interaction_msgs                                 [ 5.2 seconds ]
  67. Starting  >>> pal_video_recording_msgs
  68. Finished  <<< pal_video_recording_msgs                             [ 1.2 seconds ]
  69. Starting  >>> pal_vision_msgs
  70. Finished  <<< pal_navigation_msgs                                  [ 5.1 seconds ]
  71. Starting  >>> pal_walking_msgs
  72. Finished  <<< pal_vision_msgs                                      [ 2.2 seconds ]
  73. Starting  >>> pal_wifi_localization_msgs
  74. Starting  >>> play_motion_msgs
  75. Starting  >>> reemc_controller_configuration
  76. Finished  <<< pal_walking_msgs                                     [ 1.1 seconds ]
  77. Starting  >>> reemc_controller_configuration_gazebo
  78. Finished  <<< reemc_controller_configuration                       [ 0.2 seconds ]
  79. Starting  >>> reemc_description
  80. Finished  <<< reemc_controller_configuration_gazebo                [ 0.3 seconds ]
  81. Starting  >>> twist_mux_msgs
  82. Finished  <<< reemc_description                                    [ 0.3 seconds ]
  83. Finished  <<< pal_wifi_localization_msgs                           [ 1.4 seconds ]
  84. Starting  >>> gazebo_ros
  85. Finished  <<< play_motion_msgs                                     [ 1.6 seconds ]
  86. Starting  >>> pal_gazebo_plugins
  87. Finished  <<< gazebo_ros                                           [ 0.5 seconds ]
  88. Starting  >>> play_motion
  89. Starting  >>> gazebo_plugins
  90. Finished  <<< twist_mux_msgs                                       [ 1.5 seconds ]
  91. Starting  >>> gazebo_ros_control
  92. Finished  <<< pal_gazebo_plugins                                   [ 0.6 seconds ]
  93. Starting  >>> twist_mux
  94. Finished  <<< play_motion                                          [ 0.5 seconds ]
  95. Finished  <<< gazebo_ros_control                                   [ 0.5 seconds ]
  96. Starting  >>> reemc_hardware_gazebo
  97. Finished  <<< twist_mux                                            [ 0.4 seconds ]
  98. Starting  >>> reemc_bringup
  99. Finished  <<< reemc_hardware_gazebo                                [ 0.5 seconds ]
  100. Finished  <<< reemc_bringup                                        [ 0.4 seconds ]
  101. Finished  <<< gazebo_plugins                                       [ 2.4 seconds ]
  102. Starting  >>> reemc_gazebo
  103. Finished  <<< reemc_gazebo                                         [ 0.2 seconds ]
  104. Starting  >>> reemc_moveit_config
  105. Finished  <<< reemc_moveit_config                                  [ 0.2 seconds ]
  106. [build] Summary: All 33 packages succeeded!
  107. [build]   Ignored:   5 packages were skipped or are blacklisted.
  108. [build]   Warnings:  None.
  109. [build]   Abandoned: None.
  110. [build]   Failed:    None.
  111. [build] Runtime: 19.9 seconds total.
  112. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$

 

  1. relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ catkin build
  2. ---------------------------------------------------------------------------
  3. Profile:                     default
  4. Extending:          [cached] /home/relaybot/catkin_ws/devel:/opt/ros/indigo
  5. Workspace:                   /home/relaybot/Robotdemo_ws/tiago
  6. ---------------------------------------------------------------------------
  7. Source Space:       [exists] /home/relaybot/Robotdemo_ws/tiago/src
  8. Log Space:          [exists] /home/relaybot/Robotdemo_ws/tiago/logs
  9. Build Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/build
  10. Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/devel
  11. Install Space:      [unused] /home/relaybot/Robotdemo_ws/tiago/install
  12. DESTDIR:            [unused] None
  13. ---------------------------------------------------------------------------
  14. Devel Space Layout:          linked
  15. Install Space Layout:        None
  16. ---------------------------------------------------------------------------
  17. Additional CMake Args:       None
  18. Additional Make Args:        None
  19. Additional catkin Make Args: None
  20. Internal Make Job Server:    True
  21. Cache Job Environments:      False
  22. ---------------------------------------------------------------------------
  23. Whitelisted Packages:        None
  24. Blacklisted Packages:        None
  25. ---------------------------------------------------------------------------
  26. Workspace configuration appears valid.
  27. ---------------------------------------------------------------------------
  28. [build] Found '90' packages in 0.0 seconds.
  29. [build] Package table is up to date.
  30. Starting  >>> aruco
  31. Starting  >>> aruco_msgs
  32. Starting  >>> controller_manager_msgs
  33. Starting  >>> ddynamic_reconfigure_python
  34. Finished  <<< aruco                                                [ 0.5 seconds ]
  35. Starting  >>> hardware_interface
  36. Finished  <<< ddynamic_reconfigure_python                          [ 0.4 seconds ]
  37. Starting  >>> head_action
  38. Finished  <<< hardware_interface                                   [ 0.5 seconds ]
  39. Starting  >>> hey5_description
  40. Finished  <<< aruco_msgs                                           [ 1.6 seconds ]
  41. Finished  <<< hey5_description                                     [ 0.6 seconds ]
  42. Starting  >>> look_hand
  43. Finished  <<< controller_manager_msgs                              [ 2.3 seconds ]
  44. Starting  >>> look_to_point
  45. Finished  <<< look_hand                                            [ 0.6 seconds ]
  46. Starting  >>> pal_behaviour_msgs
  47. Starting  >>> pal_common_msgs
  48. Finished  <<< look_to_point                                        [ 0.6 seconds ]
  49. Starting  >>> pal_control_msgs
  50. Finished  <<< head_action                                          [ 2.0 seconds ]
  51. Starting  >>> pal_detection_msgs
  52. Finished  <<< pal_control_msgs                                     [ 3.0 seconds ]
  53. Starting  >>> pal_device_msgs
  54. Finished  <<< pal_behaviour_msgs                                   [ 4.2 seconds ]
  55. Starting  >>> pal_gripper_description
  56. Finished  <<< pal_common_msgs                                      [ 3.9 seconds ]
  57. Starting  >>> pal_interaction_msgs
  58. Finished  <<< pal_gripper_description                              [ 0.5 seconds ]
  59. Starting  >>> pal_motion_model_msgs
  60. Finished  <<< pal_detection_msgs                                   [ 4.8 seconds ]
  61. Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
  62. Starting  >>> pal_multirobot_msgs
  63. Finished  <<< pal_motion_model_msgs                                [ 1.8 seconds ]
  64. Starting  >>> pal_navigation_msgs
  65. Finished  <<< pal_multirobot_msgs                                  [ 1.3 seconds ]
  66. Finished  <<< pal_interaction_msgs                                 [ 4.2 seconds ]
  67. Starting  >>> pal_tablet_msgs
  68. Finished  <<< pal_tablet_msgs                                      [ 1.0 seconds ]
  69. Starting  >>> pal_video_recording_msgs
  70. Finished  <<< pal_video_recording_msgs                             [ 0.8 seconds ]
  71. Starting  >>> pal_vision_msgs
  72. Starting  >>> pal_visual_localization_msgs
  73. Starting  >>> pal_walking_msgs
  74. Finished  <<< pal_navigation_msgs                                  [ 4.4 seconds ]
  75. Starting  >>> pal_web_msgs
  76. Finished  <<< pal_walking_msgs                                     [ 1.3 seconds ]
  77. Finished  <<< pal_web_msgs                                         [ 0.8 seconds ]
  78. Starting  >>> pal_wifi_localization_msgs
  79. Finished  <<< pal_wifi_localization_msgs                           [ 1.0 seconds ]
  80. Starting  >>> play_motion_msgs
  81. Finished  <<< pal_visual_localization_msgs                         [ 2.3 seconds ]
  82. Starting  >>> play_with_sensors
  83. Starting  >>> pmb2_controller_configuration_gazebo
  84. Finished  <<< pal_vision_msgs                                      [ 2.8 seconds ]
  85. Starting  >>> rviz_plugin_covariance
  86. Finished  <<< play_with_sensors                                    [ 0.2 seconds ]
  87. Finished  <<< pmb2_controller_configuration_gazebo                 [ 0.2 seconds ]
  88. Starting  >>> tf_lookup
  89. Finished  <<< play_motion_msgs                                     [ 0.7 seconds ]
  90. Starting  >>> tiago_laser_sensors
  91. Starting  >>> tiago_maps
  92. Finished  <<< rviz_plugin_covariance                               [ 0.3 seconds ]
  93. Starting  >>> tiago_moveit_config
  94. Finished  <<< tiago_maps                                           [ 0.2 seconds ]
  95. Starting  >>> tiago_moveit_tutorial
  96. Finished  <<< tiago_laser_sensors                                  [ 0.2 seconds ]
  97. Starting  >>> tiago_pcl_tutorial
  98. Finished  <<< tiago_moveit_config                                  [ 0.2 seconds ]
  99. Finished  <<< tf_lookup                                            [ 1.0 seconds ]
  100. Finished  <<< tiago_moveit_tutorial                                [ 0.8 seconds ]
  101. Starting  >>> tts
  102. Starting  >>> pal_parallel_gripper_wrapper
  103. Finished  <<< tiago_pcl_tutorial                                   [ 0.8 seconds ]
  104. Starting  >>> controller_interface
  105. Starting  >>> joint_limits_interface
  106. Finished  <<< tts                                                  [ 0.1 seconds ]
  107. Starting  >>> transmission_interface
  108. Finished  <<< pal_parallel_gripper_wrapper                         [ 0.1 seconds ]
  109. Starting  >>> aruco_ros
  110. Finished  <<< controller_interface                                 [ 0.1 seconds ]
  111. Starting  >>> rqt_joint_trajectory_controller
  112. Finished  <<< joint_limits_interface                               [ 0.1 seconds ]
  113. Starting  >>> pal_person_detector_opencv
  114. Finished  <<< transmission_interface                               [ 0.2 seconds ]
  115. Starting  >>> tiago_opencv_tutorial
  116. Finished  <<< rqt_joint_trajectory_controller                      [ 0.2 seconds ]
  117. Starting  >>> pal_gazebo_plugins
  118. Finished  <<< aruco_ros                                            [ 0.3 seconds ]
  119. Starting  >>> pal_python
  120. Finished  <<< pal_person_detector_opencv                           [ 0.2 seconds ]
  121. Starting  >>> say_something
  122. Finished  <<< pal_python                                           [ 0.2 seconds ]
  123. Starting  >>> demo_motions
  124. Finished  <<< tiago_opencv_tutorial                                [ 0.5 seconds ]
  125. Starting  >>> run_motion
  126. Finished  <<< pal_gazebo_plugins                                   [ 0.4 seconds ]
  127. Starting  >>> controller_manager
  128. Finished  <<< say_something                                        [ 0.2 seconds ]
  129. Starting  >>> force_torque_sensor_controller
  130. Finished  <<< demo_motions                                         [ 0.5 seconds ]
  131. Starting  >>> forward_command_controller
  132. Finished  <<< force_torque_sensor_controller                       [ 0.2 seconds ]
  133. Finished  <<< run_motion                                           [ 0.6 seconds ]
  134. Starting  >>> imu_sensor_controller
  135. Starting  >>> joint_state_controller
  136. Finished  <<< controller_manager                                   [ 0.5 seconds ]
  137. Starting  >>> tiago_aruco_demo
  138. Finished  <<< forward_command_controller                           [ 0.2 seconds ]
  139. Starting  >>> tiago_pick_demo
  140. Finished  <<< imu_sensor_controller                                [ 0.2 seconds ]
  141. Starting  >>> pal_navigation_sm
  142. Finished  <<< joint_state_controller                               [ 0.2 seconds ]
  143. Starting  >>> pmb2_description
  144. Finished  <<< tiago_aruco_demo                                     [ 0.1 seconds ]
  145. Starting  >>> controller_manager_tests
  146. Finished  <<< pal_navigation_sm                                    [ 0.1 seconds ]
  147. Starting  >>> diff_drive_controller
  148. Finished  <<< pmb2_description                                     [ 0.2 seconds ]
  149. Starting  >>> joint_trajectory_controller
  150. Finished  <<< controller_manager_tests                             [ 0.3 seconds ]
  151. Finished  <<< tiago_pick_demo                                      [ 0.7 seconds ]
  152. Finished  <<< joint_trajectory_controller                          [ 0.3 seconds ]
  153. Starting  >>> rqt_controller_manager
  154. Starting  >>> gazebo_ros_control
  155. Starting  >>> effort_controllers
  156. Finished  <<< diff_drive_controller                                [ 0.4 seconds ]
  157. Starting  >>> position_controllers
  158. Finished  <<< gazebo_ros_control                                   [ 0.2 seconds ]
  159. Starting  >>> velocity_controllers
  160. Finished  <<< effort_controllers                                   [ 0.2 seconds ]
  161. Starting  >>> play_motion
  162. Finished  <<< rqt_controller_manager                               [ 0.1 seconds ]
  163. Starting  >>> tiago_2dnav
  164. Finished  <<< position_controllers                                 [ 0.2 seconds ]
  165. Starting  >>> tiago_description
  166. Finished  <<< velocity_controllers                                 [ 0.2 seconds ]
  167. Starting  >>> pmb2_controller_configuration
  168. Finished  <<< tiago_2dnav                                          [ 0.2 seconds ]
  169. Starting  >>> pal_hardware_gazebo
  170. Finished  <<< play_motion                                          [ 0.3 seconds ]
  171. Starting  >>> pal_gripper_controller_configuration
  172. Finished  <<< tiago_description                                    [ 0.1 seconds ]
  173. Starting  >>> tiago_controller_configuration_gazebo
  174. Finished  <<< pmb2_controller_configuration                        [ 0.1 seconds ]
  175. Starting  >>> pmb2_bringup
  176. Finished  <<< pal_hardware_gazebo                                  [ 0.2 seconds ]
  177. Starting  >>> pal_gripper_gazebo
  178. Finished  <<< pal_gripper_controller_configuration                 [ 0.1 seconds ]
  179. Starting  >>> pal_gripper
  180. Finished  <<< tiago_controller_configuration_gazebo                [ 0.1 seconds ]
  181. Finished  <<< pmb2_bringup                                         [ 0.1 seconds ]
  182. Starting  >>> pmb2_gazebo
  183. Starting  >>> tiago_bringup
  184. Finished  <<< pal_gripper_gazebo                                   [ 0.1 seconds ]
  185. Finished  <<< pal_gripper                                          [ 0.1 seconds ]
  186. Finished  <<< pmb2_gazebo                                          [ 0.1 seconds ]
  187. Finished  <<< tiago_bringup                                        [ 0.1 seconds ]
  188. Starting  >>> tiago_gazebo
  189. Finished  <<< tiago_gazebo                                         [ 0.1 seconds ]
  190. Starting  >>> tiago_2dnav_gazebo
  191. Starting  >>> tiago_multi
  192. Finished  <<< tiago_multi                                          [ 0.1 seconds ]
  193. Finished  <<< tiago_2dnav_gazebo                                   [ 0.1 seconds ]
  194. [build] Summary: All 82 packages succeeded!
  195. [build]   Ignored:   8 packages were skipped or are blacklisted.
  196. [build]   Warnings:  None.
  197. [build]   Abandoned: None.
  198. [build]   Failed:    None.
  199. [build] Runtime: 23.9 seconds total.
  200. 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教程

高级

ROS 2演示

 

----------

-End-

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2 条留言  访客:2 条  博主:0 条

  1. 月光

    您好!首先非常感谢博主分享您的成果!
    因为我是在单位使用这个Ubuntu+ROS,所以我直接下载这个版本之后,就直接用vmware导入了。
    现在不管是任何更改都没有办法保存到系统中,比如,我新建一个文件夹,它当时显示成功了,可是重新启动进入之后就没有这个文件夹。比如我更改了分辨率,可是重新启动之后,还是原来的分辨率。
    请问博主,这个怎么解决呢?

    非常感谢!
    月光

  2. nini

    想问下,这个课程在哪里下载

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