[{"data":1,"prerenderedAt":572},["ShallowReactive",2],{"wiki-page-/wiki/2024-07-13-ros1-ji-qi-ren-cao-zuo-xi-tong-jiao-cheng/ch1-ros-jie-shao":3,"wiki-doc-items-/wiki/2024-07-13-ros1-ji-qi-ren-cao-zuo-xi-tong-jiao-cheng/ch1-ros-jie-shao":567},{"id":4,"title":5,"body":6,"chapter":553,"chapterSort":554,"date":555,"description":109,"docKey":556,"docRoot":557,"docTitle":558,"extension":559,"isWikiDoc":422,"isWikiIndex":560,"layout":561,"meta":562,"navigation":422,"path":563,"seo":564,"stem":565,"wikiDepth":265,"__hash__":566},"content/wiki/2024-07-13-ROS1机器人操作系统教程/ch1-ROS介绍.md","ROS介绍",{"type":7,"value":8,"toc":546},"minimark",[9,13,17,34,39,53,57,64,72,78,84,90,94,101,104,111,115,120,126,135,140,146,151,157,161,166,172,201,204,212,217,223,229,239,244,249,254,299,304,310,320,342,345,350,355,359,365,371,375,380,387,392,397,404,408,413,440,445,458,463,483,489,492,501,504,520,523,537,542],[10,11,5],"h3",{"id":12},"ros介绍",[10,14,16],{"id":15},"ros与ros2的关系","ROS与ROS2的关系",[18,19,20,30,31],"p",{},[21,22,23,24,29],"strong",{},"ROS1最后一个",[21,25,26],{},[21,27,28],{},"LTS","版本****ROS"," ",[21,32,33],{},"Noetic官方仅在Ubuntu20.04 Focal和Debian10 Buster提供二进制安装文件.且在2025年彻底停更。(有第三方的方式可以将ROS Neotic部署在Ubuntu 22.04 Jammy、Ubuntu 24.04 Noble以及Debian12 Bookworm等发行版上)",[18,35,36],{},[21,37,38],{},"ROS2改进了ROS1初期设计的一些遗留毛病，以后会成为主流，但ROS2纯纯战未来，目前可以学，但是几乎没法应用，没啥教程。",[18,40,41,42,46,47,30,50],{},"**ROS2目前主流的",[21,43,44],{},[21,45,28],{},"版本如下:**",[21,48,49],{},"ROS",[21,51,52],{},"Humble官方仅在Ubuntu22.04 Jammy提供二进制安装文件，ROS Jazzy官方仅在Ubuntu24.04 Noble提供二进制安装文件。",[10,54,56],{"id":55},"ros的教学资料","ROS的教学资料",[58,59,60],"ol",{},[61,62,63],"li",{},"教学视频",[18,65,66],{},[67,68,69],"a",{"href":69,"rel":70},"https://www.bilibili.com/video/BV1Ci4y1L7ZZ/",[71],"nofollow",[18,73,74],{},[67,75,76],{"href":76,"rel":77},"https://www.bilibili.com/video/BV1Ub4y1a7PH",[71],[58,79,81],{"start":80},2,[61,82,83],{},"教学文档",[18,85,86],{},[67,87,88],{"href":88,"rel":89},"http://www.autolabor.com.cn/book/ROSTutorials/",[71],[10,91,93],{"id":92},"安装ros1-noetic","安装ROS1 Noetic",[18,95,96,97],{},"安装ROS2详见:",[67,98,100],{"href":99},"/wiki/2023-12-30-ros2-tutorial","ROS2机器人操作系统教程",[18,102,103],{},"ROS1已经EOF了，来ROS2吧。",[18,105,106],{},[107,108],"img",{"alt":109,"src":110},"","https://cdn.tungchiahui.cn/tungwebsite/assets/images/2024/07/13/image1.webp",[112,113,114],"h4",{"id":114},"官方途径",[58,116,117],{},[61,118,119],{},"Wiki安装首页：",[18,121,122],{},[67,123,124],{"href":124,"rel":125},"https://wiki.ros.org/cn/noetic/Installation",[71],[127,128,130,131,134],"h5",{"id":129},"二进制包安装仅支持ubuntu2004-focal和debian10-buster更推荐该方式","二进制包安装(仅支持Ubuntu20.04 Focal和Debian10 Buster，",[21,132,133],{},"更推荐该方式",")",[58,136,137],{},[61,138,139],{},"Ubuntu 20.04 Focal",[18,141,142],{},[67,143,144],{"href":144,"rel":145},"https://wiki.ros.org/noetic/Installation/Ubuntu",[71],[58,147,148],{"start":80},[61,149,150],{},"Debian10 Buster",[18,152,153],{},[67,154,155],{"href":155,"rel":156},"https://wiki.ros.org/noetic/Installation/Debian",[71],[127,158,160],{"id":159},"根据官方源码手动编译不推荐该方式","根据官方源码，手动编译(不推荐该方式)",[58,162,163],{},[61,164,165],{},"支持的发行版：",[18,167,168],{},[67,169,170],{"href":170,"rel":171},"https://www.ros.org/reps/rep-2000.html",[71],[58,173,174],{"start":80},[61,175,176,177,182,185,189,195,197],{},"教程",[58,178,179],{},[61,180,181],{},"Ubuntu 20.04 Focal和Debian10 Buster（多此一举：有二进制包安装，就不要从源码编译了）",[183,184],"br",{},[67,186,187],{"href":187,"rel":188},"https://wiki.ros.org/noetic/Installation/Source",[71],[58,190,192],{"start":191},3,[61,193,194],{},"Arch Linux",[183,196],{},[67,198,199],{"href":199,"rel":200},"https://wiki.ros.org/noetic/Installation/ArchLinux",[71],[112,202,203],{"id":203},"第三方途径",[127,205,207,208,211],{"id":206},"二进制包安装较为推荐","二进制包安装(",[21,209,210],{},"较为推荐","）",[58,213,214],{},[61,215,216],{},"支持Ubuntu 22.04 Jammy的方式：",[18,218,219],{},[67,220,221],{"href":221,"rel":222},"https://rcbbs.top/t/topic/559",[71],[18,224,225],{},[67,226,227],{"href":227,"rel":228},"https://github.com/ganyuanzhen/ROS-on-Jammy",[71],[230,231,236],"pre",{"className":232,"code":234,"language":235},[233],"language-text","sudo add-apt-repository ppa:ros-for-jammy/noetic\nsudo apt update\nsudo apt install ros-noetic-desktop-full\n","text",[237,238,234],"code",{"__ignoreMap":109},[58,240,241],{"start":80},[61,242,243],{},"支持Ubuntu 24.04 Noble的方式：",[18,245,246],{},[67,247,221],{"href":221,"rel":248},[71],[18,250,251],{},[67,252,227],{"href":227,"rel":253},[71],[230,255,259],{"className":256,"code":257,"language":258,"meta":109,"style":109},"language-bash shiki shiki-themes github-light github-dark","sudo add-apt-repository ppa:ros-for-jammy/noble\nsudo apt update\nsudo apt install ros-noetic-desktop-full\n","bash",[237,260,261,277,287],{"__ignoreMap":109},[262,263,266,270,274],"span",{"class":264,"line":265},"line",1,[262,267,269],{"class":268},"sScJk","sudo",[262,271,273],{"class":272},"sZZnC"," add-apt-repository",[262,275,276],{"class":272}," ppa:ros-for-jammy/noble\n",[262,278,279,281,284],{"class":264,"line":80},[262,280,269],{"class":268},[262,282,283],{"class":272}," apt",[262,285,286],{"class":272}," update\n",[262,288,289,291,293,296],{"class":264,"line":191},[262,290,269],{"class":268},[262,292,283],{"class":272},[262,294,295],{"class":272}," install",[262,297,298],{"class":272}," ros-noetic-desktop-full\n",[58,300,301],{"start":191},[61,302,303],{},"支持Debian 12 Bookworm的方式：",[18,305,306],{},[67,307,308],{"href":308,"rel":309},"https://gist.github.com/vrbadev/ec168a0940d45f523bf050011d7dff75",[71],[18,311,312,315,316,319],{},[21,313,314],{},"从密钥服务器重新获取密钥"," ： 你可以直接从密钥服务器上获取并保存这个密钥文件到正确的位置。首先，使用以下命令从密钥服务器获取密钥，并将其保存为 ",[237,317,318],{},".asc"," 文件：",[230,321,323],{"className":256,"code":322,"language":258,"meta":109,"style":109},"sudo wget -O /etc/apt/trusted.gpg.d/ros.asc https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc\n",[237,324,325],{"__ignoreMap":109},[262,326,327,329,332,336,339],{"class":264,"line":265},[262,328,269],{"class":268},[262,330,331],{"class":272}," wget",[262,333,335],{"class":334},"sj4cs"," -O",[262,337,338],{"class":272}," /etc/apt/trusted.gpg.d/ros.asc",[262,340,341],{"class":272}," https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc\n",[18,343,344],{},"这个Mavros相关的不用管，用不着飞控",[18,346,347],{},[107,348],{"alt":109,"src":349},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2024/07/13/image2.webp",[18,351,352],{},[107,353],{"alt":109,"src":354},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2024/07/13/image3.webp",[127,356,358],{"id":357},"docker容器不推荐可供有需要的使用","Docker容器(不推荐，可供有需要的使用)",[18,360,361],{},[67,362,364],{"href":363},"/wiki/2024-10-03-docker-jiao-cheng","Docker教程",[18,366,367],{},[67,368,369],{"href":369,"rel":370},"https://gitee.com/qinyinan/amber-ce-bookworm",[71],[127,372,374],{"id":373},"根据源码手动编译不推荐","根据源码，手动编译（不推荐）",[58,376,377],{},[61,378,379],{},"Ubuntu",[18,381,382],{},[67,383,386],{"href":384,"rel":385},"https://zhuanlan.zhihu.com/p/688413327?utm%5C_psn=1805362924497268736",[71],"https://zhuanlan.zhihu.com/p/688413327?utm\\_psn=1805362924497268736",[18,388,389],{},[107,390],{"alt":109,"src":391},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2024/07/13/image4.webp",[58,393,394],{"start":80},[61,395,396],{},"Fedora",[18,398,399],{},[67,400,403],{"href":401,"rel":402},"https://zhuanlan.zhihu.com/p/687755518?utm%5C_psn=1823704798471520256",[71],"https://zhuanlan.zhihu.com/p/687755518?utm\\_psn=1823704798471520256",[10,405,407],{"id":406},"测试ros1","测试ROS1",[58,409,410],{},[61,411,412],{},"配置环境（只需配置一次即可）",[230,414,416],{"className":256,"code":415,"language":258,"meta":109,"style":109},"\n# 打开文件并编辑\nsudo vim ~/.bashrc\n",[237,417,418,424,430],{"__ignoreMap":109},[262,419,420],{"class":264,"line":265},[262,421,423],{"emptyLinePlaceholder":422},true,"\n",[262,425,426],{"class":264,"line":80},[262,427,429],{"class":428},"sJ8bj","# 打开文件并编辑\n",[262,431,432,434,437],{"class":264,"line":191},[262,433,269],{"class":268},[262,435,436],{"class":272}," vim",[262,438,439],{"class":272}," ~/.bashrc\n",[58,441,442],{"start":80},[61,443,444],{},"在末尾加上下方命令（只需配置一次即可）",[230,446,448],{"className":256,"code":447,"language":258,"meta":109,"style":109},"source /opt/ros/noetic/setup.bash\n",[237,449,450],{"__ignoreMap":109},[262,451,452,455],{"class":264,"line":265},[262,453,454],{"class":334},"source",[262,456,457],{"class":272}," /opt/ros/noetic/setup.bash\n",[58,459,460],{"start":191},[61,461,462],{},"在当前终端加载修改的文件（只需配置一次即可）",[230,464,466],{"className":256,"code":465,"language":258,"meta":109,"style":109},"\n# 加载文件\nsource ~/.bashrc\n",[237,467,468,472,477],{"__ignoreMap":109},[262,469,470],{"class":264,"line":265},[262,471,423],{"emptyLinePlaceholder":422},[262,473,474],{"class":264,"line":80},[262,475,476],{"class":428},"# 加载文件\n",[262,478,479,481],{"class":264,"line":191},[262,480,454],{"class":334},[262,482,439],{"class":272},[58,484,486],{"start":485},4,[61,487,488],{},"测试",[18,490,491],{},"打开一个终端，并敲下列命令打开Master",[230,493,495],{"className":256,"code":494,"language":258,"meta":109,"style":109},"roscore\n",[237,496,497],{"__ignoreMap":109},[262,498,499],{"class":264,"line":265},[262,500,494],{"class":268},[18,502,503],{},"再打开一个终端，打开乌龟图形界面节点",[230,505,507],{"className":256,"code":506,"language":258,"meta":109,"style":109},"rosrun turtlesim turtlesim_node\n",[237,508,509],{"__ignoreMap":109},[262,510,511,514,517],{"class":264,"line":265},[262,512,513],{"class":268},"rosrun",[262,515,516],{"class":272}," turtlesim",[262,518,519],{"class":272}," turtlesim_node\n",[18,521,522],{},"再打开一个终端，打开控制节点，鼠标选中放在该终端中，按键盘即可让🐢龟男🐢移动。",[230,524,526],{"className":256,"code":525,"language":258,"meta":109,"style":109},"rosrun turtlesim turtle_teleop_key\n",[237,527,528],{"__ignoreMap":109},[262,529,530,532,534],{"class":264,"line":265},[262,531,513],{"class":268},[262,533,516],{"class":272},[262,535,536],{"class":272}," turtle_teleop_key\n",[18,538,539],{},[107,540],{"alt":109,"src":541},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2024/07/13/image5.webp",[543,544,545],"style",{},"html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html pre.shiki code .sZZnC, html code.shiki .sZZnC{--shiki-default:#032F62;--shiki-dark:#9ECBFF}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .sj4cs, html code.shiki .sj4cs{--shiki-default:#005CC5;--shiki-dark:#79B8FF}html pre.shiki code .sJ8bj, html code.shiki .sJ8bj{--shiki-default:#6A737D;--shiki-dark:#6A737D}",{"title":109,"searchDepth":80,"depth":80,"links":547},[548,549,550,551,552],{"id":12,"depth":191,"text":5},{"id":15,"depth":191,"text":16},{"id":55,"depth":191,"text":56},{"id":92,"depth":191,"text":93},{"id":406,"depth":191,"text":407},"1",1000000,"2024-07-13","2024-07-13-ros1-ji-qi-ren-cao-zuo-xi-tong-jiao-cheng","/wiki/2024-07-13-ros1-ji-qi-ren-cao-zuo-xi-tong-jiao-cheng","ROS1机器人操作系统教程","md",false,null,{},"/wiki/2024-07-13-ros1-ji-qi-ren-cao-zuo-xi-tong-jiao-cheng/ch1-ros-jie-shao",{"title":5,"description":109},"wiki/2024-07-13-ROS1机器人操作系统教程/ch1-ROS介绍","gRGb07t4qc7wKnsN8uggDOk3qMz7-rO8k0miFcdNYcI",[568,569],{"path":563,"stem":565,"title":5,"date":555,"chapter":553,"chapterSort":554,"docKey":556,"docRoot":557,"docTitle":558,"isWikiDoc":422,"isWikiIndex":560},{"path":557,"stem":570,"title":558,"date":555,"chapter":561,"chapterSort":571,"docKey":556,"docRoot":557,"docTitle":558,"isWikiDoc":422,"isWikiIndex":422},"wiki/2024-07-13-ROS1机器人操作系统教程/index",0,1778560328196]