\u914d\u7f6elinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1<\/p>\n
\u968f\u7740\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u8d8a\u6765\u8d8a\u591a\u7684\u4f01\u4e1a\u5f00\u59cb\u4f7f\u7528Linux\u7cfb\u7edf\u6765\u652f\u6301\u5b83\u4eec\u7684\u751f\u4ea7\u5f00\u53d1\u3002Linux\u7cfb\u7edf\u5177\u6709\u826f\u597d\u7684\u7a33\u5b9a\u6027\u3001\u7075\u6d3b\u6027\u548c\u53ef\u5b9a\u5236\u6027\uff0c\u8fd9\u4f7f\u5f97\u5b83\u6210\u4e3a\u4e00\u4e2a\u7406\u60f3\u7684\u9009\u62e9\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u5982\u4f55\u914d\u7f6elinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\uff0c\u5e76\u63d0\u4f9b\u4e00\u4e9b\u4ee3\u7801\u793a\u4f8b\u3002<\/p>\n
sudo apt update
sudo apt upgrade<\/p>\n
ROS\uff08Robotic Operating System\uff09\uff1a\u4e00\u4e2a\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5f00\u6e90\u5e73\u53f0\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5ROS\uff1a<\/p>\n
sudo apt install ros-melodic-desktop-full<\/p>\n<\/li>\n
Gazebo\uff1a\u4e00\u4e2a\u7528\u4e8e\u6a21\u62df\u673a\u5668\u4eba\u73af\u5883\u7684\u5f00\u6e90\u5de5\u5177\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5Gazebo\uff1a<\/p>\n
sudo apt install gazebo9<\/p>\n<\/li>\n
Python\u548cpip\uff1a\u7528\u4e8e\u7f16\u5199\u548c\u7ba1\u7406Python\u811a\u672c\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5\u5b83\u4eec\uff1a<\/p>\n
sudo apt install python3 python3-pip<\/p>\n<\/li>\n
echo “source \/opt\/ros\/melodic\/setup.bash” >> ~\/.bashrc
source ~\/.bashrc<\/p>\n
\u63a5\u4e0b\u6765\uff0c\u60a8\u53ef\u4ee5\u521b\u5efa\u4e00\u4e2aROS\u5de5\u4f5c\u533a\u6765\u7ec4\u7ec7\u60a8\u7684\u5de5\u7a0b\u4ee3\u7801\u3002\u6253\u5f00\u7ec8\u7aef\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n
mkdir -p ~\/catkin_ws\/src
cd ~\/catkin_ws\/
catkin_make<\/p>\n
\u9996\u5148\uff0c\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a”talker.py”\u7684Python\u6587\u4ef6\uff0c\u5e76\u5c06\u4ee5\u4e0b\u4ee3\u7801\u590d\u5236\u5e76\u7c98\u8d34\u5230\u6587\u4ef6\u4e2d\uff1a<\/p>\n
#!\/usr\/bin\/env python\nimport rospy\nfrom std_msgs.msg import String\n\ndef talker():\n pub = rospy.Publisher('chatter', String, queue_size=10)\n rospy.init_node('talker', anonymous=True)\n rate = rospy.Rate(10) \n while not rospy.is_shutdown():\n hello_str = \"hello world %s\" % rospy.get_time()\n rospy.loginfo(hello_str)\n pub.publish(hello_str)\n rate.sleep()\n\nif __name__ == '__main__':\n try:\n talker()\n except rospy.ROSInterruptException:\n pass<\/pre>\n \u767b\u5f55\u540e\u590d\u5236 <\/p>\n
\u4fdd\u5b58\u6587\u4ef6\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u4f7f\u5176\u53ef\u6267\u884c\uff1a<\/p>\n
chmod +x talker.py<\/p>\n
\u63a5\u4e0b\u6765\uff0c\u6253\u5f00\u7ec8\u7aef\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u542f\u52a8ROS\u8282\u70b9\uff1a<\/p>\n
roscore<\/p>\n
\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u4e2d\uff0c\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u8fd0\u884c”talker.py”\u8282\u70b9\uff1a<\/p>\n
rosrun talker.py <\/p>\n
\u8fd9\u6837\uff0c\u60a8\u5c31\u521b\u5efa\u4e86\u4e00\u4e2aROS\u8282\u70b9\u5e76\u5f00\u59cb\u53d1\u5e03”chatter”\u8bdd\u9898\u7684\u6d88\u606f\u3002<\/p>\n
\u4ee5\u4e0a\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u793a\u4f8b\uff0c\u60a8\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u7f16\u5199\u548c\u8fd0\u884c\u66f4\u590d\u6742\u7684ROS\u8282\u70b9\u3002<\/p>\n
\u603b\u7ed3
\u914d\u7f6elinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\u662f\u4e00\u4e2a\u76f8\u5bf9\u7b80\u5355\u7684\u8fc7\u7a0b\u3002\u60a8\u53ea\u9700\u8981\u9009\u62e9\u9002\u5408\u7684Linux\u53d1\u884c\u7248\u3001\u5b89\u88c5\u5fc5\u8981\u7684\u8f6f\u4ef6\u5305\uff0c\u5e76\u8fdb\u884c\u4e00\u4e9b\u57fa\u672c\u7684\u914d\u7f6e\u3002\u6b64\u5916\uff0cROS\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u5e73\u53f0\u6765\u5f00\u53d1\u548c\u7ba1\u7406\u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u3002\u5e0c\u671b\u672c\u6587\u5bf9\u60a8\u6709\u6240\u5e2e\u52a9\uff0c\u5e76\u80fd\u4e3a\u60a8\u7684\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\u63d0\u4f9b\u6307\u5bfc\u3002<\/p>\n
\u4ee5\u4e0a\u5c31\u662f\u914d\u7f6eLinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\u7684\u8be6\u7ec6\u5185\u5bb9\uff0c\u66f4\u591a\u8bf7\u5173\u6ce8\u7c73\u4e91\u5176\u5b83\u76f8\u5173\u6587\u7ae0\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"
\u914d\u7f6elinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1 \u968f\u7740\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u8d8a\u6765\u8d8a\u591a\u7684\u4f01\u4e1a\u5f00\u59cb\u4f7f\u7528Linux\u7cfb\u7edf\u6765\u652f\u6301\u5b83\u4eec\u7684\u751f\u4ea7\u5f00\u53d1\u3002Linux\u7cfb\u7edf\u5177\u6709\u826f\u597d\u7684\u7a33\u5b9a\u6027\u3001\u7075\u6d3b\u6027\u548c\u53ef\u5b9a\u5236\u6027\uff0c\u8fd9\u4f7f\u5f97\u5b83\u6210\u4e3a\u4e00\u4e2a\u7406\u60f3\u7684\u9009\u62e9\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u5982\u4f55\u914d\u7f6elinux\u7cfb\u7edf\u4ee5\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\uff0c\u5e76\u63d0\u4f9b\u4e00\u4e9b\u4ee3\u7801\u793a\u4f8b\u3002 \u5b89\u88c5Linux\u7cfb\u7edf\u9996\u5148\uff0c\u60a8\u9700\u8981\u9009\u62e9\u4e00\u4e2a\u9002\u5408\u7684Linux\u53d1\u884c\u7248\u5e76\u5c06\u5176\u5b89\u88c5\u5230\u60a8\u7684\u8ba1\u7b97\u673a\u4e0a\u3002\u5e38\u89c1\u7684\u9009\u62e9\u5305\u62ecUbuntu\u3001Fedora\u548cCentOS\u3002\u5b89\u88c5\u8fc7\u7a0b\u5c06\u56e0\u4e0d\u540c\u7684\u53d1\u884c\u7248\u800c\u6709\u6240\u4e0d\u540c\uff0c\u60a8\u53ef\u4ee5\u53c2\u8003\u5b98\u65b9\u6587\u6863\u6216\u5728\u7ebf\u6559\u7a0b\u8fdb\u884c\u64cd\u4f5c\u3002 \u66f4\u65b0\u7cfb\u7edf\u5b89\u88c5\u5b8cLinux\u7cfb\u7edf\u540e\uff0c\u60a8\u9700\u8981\u53ca\u65f6\u66f4\u65b0\u7cfb\u7edf\u4ee5\u4fdd\u6301\u6700\u65b0\u7684\u5b89\u5168\u6027\u548c\u529f\u80fd\u3002\u6253\u5f00\u7ec8\u7aef\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u66f4\u65b0\u7cfb\u7edf\uff1a sudo apt updatesudo apt upgrade \u5b89\u88c5\u5fc5\u8981\u7684\u8f6f\u4ef6\u5305\u63a5\u4e0b\u6765\uff0c\u60a8\u9700\u8981\u5b89\u88c5\u4e00\u4e9b\u5fc5\u8981\u7684\u8f6f\u4ef6\u5305\u6765\u652f\u6301\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u5316\u751f\u4ea7\u5f00\u53d1\u3002\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5e38\u7528\u7684\u8f6f\u4ef6\u5305\uff1a ROS\uff08Robotic Operating System\uff09\uff1a\u4e00\u4e2a\u7528\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5f00\u6e90\u5e73\u53f0\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5ROS\uff1a sudo apt install ros-melodic-desktop-full Gazebo\uff1a\u4e00\u4e2a\u7528\u4e8e\u6a21\u62df\u673a\u5668\u4eba\u73af\u5883\u7684\u5f00\u6e90\u5de5\u5177\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5Gazebo\uff1a sudo apt install gazebo9 Python\u548cpip\uff1a\u7528\u4e8e\u7f16\u5199\u548c\u7ba1\u7406Python\u811a\u672c\u3002\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5\u5b83\u4eec\uff1a sudo apt install python3 python3-pip MATLAB\uff1a\u4e00\u4e2a\u7528\u4e8e\u5de5\u4e1a\u81ea\u52a8\u5316\u5f00\u53d1\u7684\u6d41\u884c\u7684\u6570\u503c\u8ba1\u7b97\u8f6f\u4ef6\u3002\u60a8\u53ef\u4ee5\u4ece\u5b98\u65b9\u7f51\u7ad9\u4e0b\u8f7dMATLAB\u5e76\u6309\u7167\u5176\u5b89\u88c5\u8bf4\u660e\u8fdb\u884c\u5b89\u88c5\u3002 \u914d\u7f6eROS\u5b89\u88c5\u5b8cROS\u540e\uff0c\u60a8\u9700\u8981\u5bf9\u5176\u8fdb\u884c\u4e00\u4e9b\u914d\u7f6e\u3002\u6253\u5f00\u7ec8\u7aef\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u6765\u914d\u7f6eROS\u7684\u73af\u5883\u53d8\u91cf\uff1a echo “source \/opt\/ros\/melodic\/setup.bash” >> ~\/.bashrcsource ~\/.bashrc \u63a5\u4e0b\u6765\uff0c\u60a8\u53ef\u4ee5\u521b\u5efa\u4e00\u4e2aROS\u5de5\u4f5c\u533a\u6765\u7ec4\u7ec7\u60a8\u7684\u5de5\u7a0b\u4ee3\u7801\u3002\u6253\u5f00\u7ec8\u7aef\u5e76\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\uff1a mkdir -p ~\/catkin_ws\/srccd ~\/catkin_ws\/catkin_make \u7f16\u5199\u548c\u8fd0\u884cROS\u8282\u70b9\u5728ROS\u4e2d\uff0c\u8282\u70b9\uff08Node\uff09\u662f\u7528\u4e8e\u6267\u884c\u7279\u5b9a\u4efb\u52a1\u7684\u72ec\u7acb\u8fdb\u7a0b\u3002\u4ee5\u4e0b\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u793a\u4f8b\u4ee3\u7801\uff0c\u7528\u4e8e\u521b\u5efa\u4e00\u4e2aROS\u8282\u70b9\u5e76\u53d1\u5e03\u6d88\u606f\uff1a \u9996\u5148\uff0c\u521b\u5efa\u4e00\u4e2a\u540d\u4e3a”talker.py”\u7684Python\u6587\u4ef6\uff0c\u5e76\u5c06\u4ee5\u4e0b\u4ee3\u7801\u590d\u5236\u5e76\u7c98\u8d34\u5230\u6587\u4ef6\u4e2d\uff1a #!\/usr\/bin\/env python import rospy from std_msgs.msg import String def talker(): pub = […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-15779","post","type-post","status-publish","format-standard","hentry","category-os"],"_links":{"self":[{"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/posts\/15779","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/comments?post=15779"}],"version-history":[{"count":0,"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/posts\/15779\/revisions"}],"wp:attachment":[{"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/media?parent=15779"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/categories?post=15779"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/fwq.ai\/blog\/wp-json\/wp\/v2\/tags?post=15779"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}