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是时候放下ROS1,开启ROS2的旅程了。It's time to put down ROS1 and start the journey of ROS2.
ROS2官方在线文档链接 ROS2 official online documentation:https://index.ros.org/doc/ros2/
ROS2教程文档使用说明与为什么选择ROS2?ROS2 tutorial documentation instructions and why choose ROS2?https://blog.csdn.net/ZhangRelay/article/details/93601114
ROS2常规学习路径 ROS2 regular learning path:
ROS2进阶学习路径 ROS2 advanced learning path:
学习分享从安装配置开始,首先详细介绍教程,然后是两个专题:Navigation2和MoveIt!2。This article starts with ROS2 installation and configuration, first introduces the tutorial in detail, then two topics: Navigation2 and MoveIt!2.
ROS教程 ROS 2 tutorials:https://github.com/zhangrelay/ros2_tutorials
配置教程包 Tutorial package configuration:
导入编译的环境 Import the compiled environment:
source install/setup.bash
输入ros2 run turtlesim,可以看到如下节点 Enter ros2 run turtlesim, you can see the following nodes:
draw_square --prefix turtle_teleop_key
mimic turtlesim_node
常用命令如下 Common commands are as follows:
更多内容参考下图 For more details, please refer to the following figure:
欢迎大家下载案例调试玩耍, 更多内容后续介绍。You are welcome to download the case, debug and play, more will be introduced in subsequent articles.
思考题 Thinking:
回顾roslaunch, 写一个ros2 launch,同时启动turtlesim_node和draw_spuare。Looking back at roslaunch, write a ros2 launch and start both the turtlesim_node and draw_spuare node.
扩展题 Extended:
对比ROS1和ROS2的turtlesim包,分析和思考两代ROS编程和使用中的差异。Compare the turbulsim package of ROS1 and ROS2, analyze and think about the difference between the two generations of ROS in programming and use.
draw_square.launch.py
- from launch import LaunchDescription
- import launch_ros.actions
-
- def generate_launch_description():
- return LaunchDescription([
- launch_ros.actions.Node(
- node_namespace= "ros2", package='turtlesim', node_executable='turtlesim_node', output='screen'),
- launch_ros.actions.Node(
- node_namespace= "ros2", package='turtlesim', node_executable='draw_square', output='screen'),
- ])
-
-
使用服务质量设置来处理有损网络。Use quality-of-service settings to handle lossy networks.
ROS 1和ROS 2之间的桥接通信。Bridge communication between ROS 1 and ROS 2.
使用ROS 1桥接器使用rosbag记录和回放主题数据。Recording and playback of topic data with rosbag using the ROS 1 bridge.
使用ROS 2的TurtleBot 3演示。[社区贡献] TurtleBot 3 demo using ROS 2. [community-contributed]
编写使用ROS 2 API的实时安全代码。Write real-time safe code that uses the ROS 2 APIs.
使用rclpy API在Python中编写ROS 2程序。Use the rclpy API to write ROS 2 programs in Python.
使用机器人状态发布者发布联合状态和TF。Use the robot state publisher to publish joint states and TF.
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