藍橋ROS機器人之古月居ROS入門21講

ROS1入門經典課程，在其官網和B站等都有詳細介紹和視頻講解。

古月居校園行

直接在藍橋云課下載就可以學習和使用啦。

文檔部分：

源碼等：

將源碼復制到demo_ws/src下，并編譯后使用：

catkin build

ros1 kinetic(1) or ros2 ardent(2)?

1

shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/ros_book.git

\u6b63\u514b\u9686\u5230 'ros_book'...

remote: Enumerating objects: 15, done.

remote: Counting objects: 100% (15/15), done.

remote: Compressing objects: 100% (15/15), done.

remote: Total 15 (delta 3), reused 0 (delta 0), pack-reused 0

\u5c55\u5f00\u5bf9\u8c61\u4e2d: 100% (15/15), \u5b8c\u6210.

\u68c0\u67e5\u8fde\u63a5... \u5b8c\u6210\u3002

shiyanlou:Code/ $ unzip ros_book/ros_21_tutorials-master.zip [13:45:05]

Archive: ros_book/ros_21_tutorials-master.zip

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shiyanlou:Code/ $ cd demo_ws [13:45:43]

shiyanlou:demo_ws/ $ catkin build [13:46:49]

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

Profile: default

Extending: [env] /opt/ros/kinetic

Workspace: /home/shiyanlou/Code/demo_ws

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

Build Space: [exists] /home/shiyanlou/Code/demo_ws/build

Devel Space: [exists] /home/shiyanlou/Code/demo_ws/devel

Install Space: [unused] /home/shiyanlou/Code/demo_ws/install

Log Space: [missing] /home/shiyanlou/Code/demo_ws/logs

Source Space: [exists] /home/shiyanlou/Code/demo_ws/src

DESTDIR: [unused] None

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

Devel Space Layout: linked

Install Space Layout: None

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

Additional CMake Args: None

Additional Make Args: None

Additional catkin Make Args: None

Internal Make Job Server: True

Cache Job Environments: False

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

Buildlisted Packages: None

Skiplisted Packages: None

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

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

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

[build] Found '5' packages in 0.0 seconds.

[build] Updating package table.

Starting >>> catkin_tools_prebuild

Finished <<< catkin_tools_prebuild [ 2.3 seconds ]

Starting >>> learning_launch

Starting >>> learning_parameter

Starting >>> learning_service

Starting >>> learning_tf

Finished <<< learning_launch [ 10.8 seconds ]

Starting >>> learning_topic

Finished <<< learning_parameter [ 24.6 seconds ]

Finished <<< learning_tf [ 47.4 seconds ]

Finished <<< learning_service [ 56.3 seconds ]

Finished <<< learning_topic [ 46.4 seconds ]

[build] Summary: All 6 packages succeeded!

[build] Ignored: None.

[build] Warnings: None.

[build] Abandoned: None.

[build] Failed: None.

[build] Runtime: 59.6 seconds total.

[build] Note: Workspace packages have changed, please re-source setup files to use them.

Exception ignored in: >

Traceback (most recent call last):

File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in __del__

File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close

File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler

File "/usr/lib/python3.5/signal.py", line 47, in signal

TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object

shiyanlou:demo_ws/ $ source devel/setup.bash [13:47:55]

devel/setup.bash:.:8: \u6ca1\u6709\u90a3\u4e2a\u6587\u4ef6\u6216\u76ee\u5f55: /home/shiyanlou/Code/demo_ws/setup.sh

shiyanlou:demo_ws/ $ source devel/setup.zsh [13:48:31]

shiyanlou:demo_ws/ $ roslaunch learning_launch start_tf_demo_c++.launch

... logging to /home/shiyanlou/.ros/log/8ba90254-ad0b-11ec-bf40-0242c0a82a04/roslaunch-5a0e7854a36d-30370.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://5a0e7854a36d:36559/

SUMMARY

========

PARAMETERS

* /rosdistro: kinetic

* /rosversion: 1.12.17

NODES

/

listener (learning_tf/turtle_tf_listener)

sim (turtlesim/turtlesim_node)

teleop (turtlesim/turtle_teleop_key)

turtle1_tf_broadcaster (learning_tf/turtle_tf_broadcaster)

turtle2_tf_broadcaster (learning_tf/turtle_tf_broadcaster)

auto-starting new master

process[master]: started with pid [30380]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8ba90254-ad0b-11ec-bf40-0242c0a82a04

process[rosout-1]: started with pid [30393]

started core service [/rosout]

process[sim-2]: started with pid [30396]

process[teleop-3]: started with pid [30407]

process[turtle1_tf_broadcaster-4]: started with pid [30409]

process[turtle2_tf_broadcaster-5]: started with pid [30418]

process[listener-6]: started with pid [30422]

Reading from keyboard

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

Use arrow keys to move the turtle.

機器人

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