ROS基础学习笔记1

小咪咪 2023-10-09 09:49 23阅读 0赞

## ROS开发基础部分： ##

### 基本文件介绍 ###

1.CMakeLists.txt  
规定了catkin编译的规则  
例如：源文件，依赖项，目标文件，会总动生成命令模板  
2.Package.xml  
定义了包的属性  
生成包括：包名，版本号，作者，依赖属性的模板

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 1]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 2]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 3]

## 常用的包管理指令： ##

1.  rospack

#查找某个pkg的地址
    $ rospack find <package_name>
    #列出本地所有的pkg
    $ rospack list

1.  roscd

#快速跳转到某个pkg路径下
    $ roscd package_name

1.  rosls

#列举某个pkg下的文件信息
    $ rosls package_name

1.  rosed

#编辑pkg中的文件
    $ rosed package_name file_name

1.  catkin\_create\_pkg

#创建一个pkg
    $ catkin_create_pkg package_name[deps]

1.  rosdep (常用来安装github等途径获得的代码的依赖)

#列举某个pkg所需依赖
    $ rosdep install [package_name]

## 下载和编译 ##

克隆或下载ROS-Academy-for-Beginners教学包到工作空间的/src目录下，例如 ~/catkin\_ws/src

$ cd ~/catkin_ws/src
    $ git clone  https://github.com/DroidAITech/ROS-Academy-for-Beginners.git

安装教学包所需的依赖

$ cd ~/catkin_ws
    $ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

编译并刷新环境

$ catkin_make
    $ source ~/catkin_ws/devel/setup.bash

## Metapackage ##

## ROS的通讯架构 ##

master作用

*  1.每个节点启动时需要向master注册
 *  2.管理通道间的通信  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 4]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 5]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 6]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 7]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 8]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 9]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 10]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 11]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 12]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 13]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 14]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 15]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 16]![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 17]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20190924221716696.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20190924221806450.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 2]: https://img-blog.csdnimg.cn/20190924221907916.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 3]: https://img-blog.csdnimg.cn/20190924221954269.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 4]: https://img-blog.csdnimg.cn/20190924235141459.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 5]: https://img-blog.csdnimg.cn/20190924235226611.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 6]: https://img-blog.csdnimg.cn/20190924235314789.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 7]: https://img-blog.csdnimg.cn/20190924235333379.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 8]: https://img-blog.csdnimg.cn/20190924235510778.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 9]: https://img-blog.csdnimg.cn/20190924235546904.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 10]: https://img-blog.csdnimg.cn/20190925001151500.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 11]: https://img-blog.csdnimg.cn/20190925001223232.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 12]: https://img-blog.csdnimg.cn/20190925001806924.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 13]: https://img-blog.csdnimg.cn/20190925002443834.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 14]: https://img-blog.csdnimg.cn/20190925002549196.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 15]: https://img-blog.csdnimg.cn/20190925005331546.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 16]: https://img-blog.csdnimg.cn/2019092500551662.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA_size_16_color_FFFFFF_t_70 17]: https://img-blog.csdnimg.cn/20190925043729223.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzE5OTU4NA==,size_16,color_FFFFFF,t_70