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Introduction to ROS

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Introduction to ROS

The relationship between ROS and ROS2

ROS1's final LTS version, ROS Noetic, only provides binary installation files for Ubuntu 20.04 Focal and Debian 10 Buster. It will be completely discontinued in 2025. (There are third-party methods to deploy ROS Noetic on distributions such as Ubuntu 22.04 Jammy, Ubuntu 24.04 Noble, and Debian 12 Bookworm.)

ROS2 fixes some lingering issues from the early design of ROS1 and will become mainstream in the future, but ROS2 is purely future-oriented. For now, you can learn it, but it's almost impossible to apply, and there are very few tutorials available.

The current mainstream LTS versions of ROS2 are as follows:
ROS Humble officially provides binary installation files only on Ubuntu 22.04 Jammy, and ROS Jazzy officially provides binary installation files only on Ubuntu 24.04 Noble.

ROS tutorial materials

  1. Tutorial video

https://www.bilibili.com/video/BV1Ci4y1L7ZZ/

https://www.bilibili.com/video/BV1Ub4y1a7PH

  1. Teaching document

http://www.autolabor.com.cn/book/ROSTutorials/

Install ROS1 Noetic

For ROS2 installation, see: ROS2 Robot Operating System Tutorial

ROS1 has reached EOF, come to ROS2.

Official channels

  1. Wiki Installation Homepage:

https://wiki.ros.org/cn/noetic/Installation

  1. Ubuntu 20.04 Focal

https://wiki.ros.org/noetic/Installation/Ubuntu

  1. Debian10 Buster

https://wiki.ros.org/noetic/Installation/Debian

  1. Supported distributions:

https://www.ros.org/reps/rep-2000.html

  1. Tutorial
    1. Ubuntu 20.04 Focal and Debian 10 Buster (unnecessary: if a binary package installation is available, don't compile from source).

    https://wiki.ros.org/noetic/Installation/Source
    1. Arch Linux

    https://wiki.ros.org/noetic/Installation/ArchLinux

Third-party channels

  1. How to support Ubuntu 22.04 Jammy:

https://rcbbs.top/t/topic/559

https://github.com/ganyuanzhen/ROS-on-Jammy

sudo add-apt-repository ppa:ros-for-jammy/noetic
sudo apt update
sudo apt install ros-noetic-desktop-full
  1. How to support Ubuntu 24.04 Noble:

https://rcbbs.top/t/topic/559

https://github.com/ganyuanzhen/ROS-on-Jammy

sudo add-apt-repository ppa:ros-for-jammy/noble
sudo apt update
sudo apt install ros-noetic-desktop-full
  1. Method for supporting Debian 12 Bookworm:

https://gist.github.com/vrbadev/ec168a0940d45f523bf050011d7dff75

Reacquiring the key from the key server: You can directly fetch and save this key file from the key server to the correct location. First, use the following command to retrieve the key from the key server and save it as the .asc file:

sudo wget -O /etc/apt/trusted.gpg.d/ros.asc https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc

You don't need to worry about this Mavros-related part; there's no need for a flight controller.

Docker tutorial

https://gitee.com/qinyinan/amber-ce-bookworm

  1. Ubuntu

https://zhuanlan.zhihu.com/p/688413327?utm\_psn=1805362924497268736

  1. Fedora

https://zhuanlan.zhihu.com/p/687755518?utm\_psn=1823704798471520256

Test ROS1

  1. Environment setup (only needs to be configured once)

# 打开文件并编辑
sudo vim ~/.bashrc
  1. Add the following command at the end (only needs to be configured once):
source /opt/ros/noetic/setup.bash
  1. Load the modified file in the current terminal (only needs to be configured once).

# 加载文件
source ~/.bashrc
  1. test

Open a terminal and type the following command to open Master.

roscore

Open another terminal and launch the turtle graphical interface node.

rosrun turtlesim turtlesim_node

Open another terminal, launch the control node, click to select that terminal, and press keys on the keyboard to make the 🐢 turtle 🐢 move.

rosrun turtlesim turtle_teleop_key

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