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Hi, family, I’m bug bug, here I go again. Let’s talk about something today. OK, let’s continue with the Ubuntu series. Listen and learn! Good cut?
One: Environment introduction
System requirements: Ubuntu20.04
ROS installed version: Noetic
Second, the preface
Introduction to Rosbridge
Robot Operating System (ROS) is a widely used software framework for Robot systems. It contains a series of software libraries and tools for building Robot applications. From drivers to state-of-the-art algorithms, and powerful developer tools, ROS contains everything you need to develop a robotics project. And they’re all open source.
Although ROS is called a robot operating system, it is not the same as the operating systems we usually think of as Windows, Linux, iOS and Android. Operating systems such as Windows, Linux, iOS and Android manage the physical hardware resources of a computer for us, such as CPU, memory, disk, network and peripherals, provide abstractions such as processes, threads, and files, and provide operations such as reading files, writing files, creating processes, creating threads, and starting threads. ROS does not work at such a low level. It runs on a general concept operating system. The official recommendation is to run on Ubuntu Linux, which provides higher level abstractions such as nodes, services, messages, topics, etc., on top of the abstractions and operations provided by the Ubuntu Linux operating system. And higher-level operations, such as publishing topics, subscribing to topics, querying and connecting services, etc. ROS also provides the tools and libraries needed to develop robotics projects.
ROS distributions are a version-identified collection of ROS packages that are similar to Linux distributions such as Ubuntu. ROS releases are designed to allow developers to work with a relatively stable code base until they can evolve smoothly. Once a release is released, changes to it are limited and only bug fixes and non-destructive enhancements to the core package are provided.
Currently (2018-01-28) ROS system has been released several versions. Some of the latest versions of ROS are as follows:
ROS System Version
Time to release
Support time
ROS Lunar Loggerhead
May 23rd, 2017
May, 2019
ROS Kinetic Kame
May 23rd, 2016
LTS，April, 2021 (Xenial EOL)
ROS Jade Turtle
May 23rd, 2015
May, 2017
ROS Indigo Igloo
July 22nd, 2014
LTS, April, 2019(Trusty EOL)
ROS Hydro Medusa
September 4th, 2013
May, 2015
ROS basically maintains a new release per year and a long-term release every two years. For more information on ROS releases, such as introduction of more releases, and plans for releases, please refer to the ROS official home page.
ROS Lunar Loggerhead is the latest release of ROS Lunar Loggerhead, which is currently officially recommended to use the latest long-term support version, ROS Kinetic Kame. This version is definitely recommended for new and stable use. If you want to try the latest features, you can use ROS Lunar Loggerhead.
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ROS installation
The steps are as follows:
#1 add sources.list
Add a source for Ubuntu’s package manager and set up your computer to accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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lsb_release -scTo obtain. Once the correct software libraries have been added, the operating system knows where to download programs and automatically installs the software on command.
#2. Add keys
This step is to ensure that the source code is correct and that no one modifies any program code without the owner’s permission. Typically, when the software library is added, the key of the software library is already added and added to the trusted list of the operating system.
To set the key, run the following command:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Copy the codehkp://pgp.mit.edu:80 或 hkp://keyserver.ubuntu.com:80To replace.
First, you need to ensure that the package manager’s index is up to date:
sudo apt update
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There are so many different libraries and tools available in ROS. There are four default configurations available to install ROS. ROS packages can also be installed independently. Full desktop installation (recommended) : ROS, RQT, RVIZ, Robot universal library, 2D/3D emulator, navigation and 2D/3D perception;
sudo apt install ros-noetic-desktop-full
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E: Unable to locate package ros-kinetic desktop-full; You can refer to my article “Solving the ros installation error E: Unable to Locate Package ROs-Kinetic desktop-full”.
#5. You must obtain the source code for this script on every bash terminal that uses ROS.
source /opt/ros/noetic/setup.bash
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It would be handy if ROS environment variables were automatically added to your bash session every time a new terminal was started, this could be done with the following command:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
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env | grep ROS
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roscore 和 turtlesimLet’s do the test.
Next came the turtle test;
Note that turtlesim depends on Roscore running, so you need to run Roscore at the same time when testing Turtlesim.
7. Baby turtle test
The baby turtle test requires opening three new command line Windows in sequence:
Window 1: Open a new window shortcut key: Ctrl + Alt +T
roscore
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rosrun turtlesim turtlesim_node
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Remember, the mouse cursor must focus on the bottom of the 3 Windows, in order to control the turtle through the keyboard move up.
rosrun turtlesim turtle_teleop_key
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