ROS取付

3026 ワード

Required Environment

  • desktop that installed linux
  • pleasant internet
  • Terminator



    Terminator is multi-segment terminal
    $ sudo add-apt-repository ppa:gnore-terminator
    
    $ sudo apt-get update 
    
    $ sudo apt-get install terminator
    Use Terminoator
  • ctrl+shift+o : Vertical segmentation
  • ctrl+shift+e : Horizontal segmentation
  • ctrl+shift+w : Close window
  • alt+arrow: Move between window
  • Additional Setup

    # sometimes modemmanager interferes with using usb to communicating with robot
    $ sudo apt-get purge modemmanager
    
    $ sudo adduser [user name]
    $ sudo usermod -aG sudo [user name]

    Ubuntu ROS installation


    from: http://wiki.ros.org/melodic/Installation/Ubuntu
    # set up sources.list
    $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    
    # set up keys
    $ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    
    # Installation
    $ sudo apt update
    $ sudo apt install ros-melodic-desktop-full
    
    # Environment setup
    $ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
    $ source ~/.bashrc
    $ sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
    
    # Initialize rosdep
    $ sudo apt install python-rosdep
    
    $ sudo rosdep init
    $ rosdep update
    well done !! 😀

    then let's confirm installation


    open new terminer
    $ roscore
    ... logging to /home/kimsooyoung/.ros/log/5b440a74-4cda-11eb-a263-9cb6d08bf543/roslaunch-kimsooyoung-XPS-13-9370-10527.log
    Checking log directory for disk usage. This may take a while.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    
    started roslaunch server http://localhost:38251/
    ros_comm version 1.14.10
    
    
    SUMMARY
    ========
    
    PARAMETERS
     * /rosdistro: melodic
     * /rosversion: 1.14.10
    
    NODES
    
    auto-starting new master
    process[master]: started with pid [10537]
    ROS_MASTER_URI=http://localhost:11311/
    
    setting /run_id to 5b440a74-4cda-11eb-a263-9cb6d08bf543
    process[rosout-1]: started with pid [10559]
    started core service [/rosout]
    If you see the above command line, you have succeeded.

    let's run ROS program!! 🐢


    $ rosrun turtlesim turtlesim_node
    
    # open new terminal
    
    $ rosrun turtlesim turtle_teleop_key
    # click and hold on this terminal and control with arrow key

    to next


    We'll learn about ROS stucture and build system
    Bye🖐