{"id":143,"date":"2021-11-21T12:40:54","date_gmt":"2021-11-21T12:40:54","guid":{"rendered":"http:\/\/47.103.123.166\/?p=143"},"modified":"2021-11-22T05:28:06","modified_gmt":"2021-11-22T05:28:06","slug":"ros2_foxy%e5%ad%a6%e4%b9%a01-%e5%89%8d%e8%a8%80%e4%b8%8e%e5%ae%89%e8%a3%85","status":"publish","type":"post","link":"http:\/\/47.103.123.166\/?p=143","title":{"rendered":"ROS2_Foxy\u5b66\u4e601\u2014\u2014\u524d\u8a00\u4e0e\u5b89\u88c5"},"content":{"rendered":"

\u524d\u8a00<\/h1>\n

1\u3001\u5173\u4e8eROS2.0\u7684\u53d1\u5e03\u80cc\u666f\u3001\u4f18\u52bf\u7b49\uff0c\u53ef\u4ee5\u53c2\u8003\u53e4\u6708\u5c45\u7684ROS2\u63a2\u7d22\u603b\u7ed3\u7cfb\u5217<\/a>\u3002<\/p>\n

2\u3001\u76f8\u6bd4\u4e8eROS1\uff0cROS2\u7684\u7279\u70b9\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n

\uff081\uff09\u8de8\u5e73\u53f0<\/strong>
\n  \u652f\u6301\u6784\u5efa\u7684\u7cfb\u7edf\u5305\u62ecLinux\u3001windows\u3001Mac\u3001RTOS\u7b49\u3002<\/p>\n

\uff082\uff09DDS<\/strong>
\n  ROS2\u53d6\u6d88\u4e86master\u673a\u5236\uff0c\u53d6\u800c\u4ee3\u4e4b\u7684\u662fDDS\uff08Data Distribution Service\uff0c\u6570\u636e\u5206\u53d1\u670d\u52a1\uff09\u3002DDS \u7684\u6280\u672f\u6838\u5fc3\u662f\u4ee5\u6570\u636e\u4e3a\u6838\u5fc3\u7684\u53d1\u5e03\u8ba2\u9605\u6a21\u578b\uff08Data-Centric Publish-Subscribe \uff0cDCPS\uff09\uff0c\u8fd9\u79cdDCPS\u6a21\u578b\u521b\u5efa\u4e86\u4e00\u4e2a\u201c\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u201d\uff08global data space\uff09\u7684\u6982\u5ff5\uff0c\u6240\u6709\u72ec\u7acb\u7684\u5e94\u7528\u90fd\u53ef\u4ee5\u53bb\u8bbf\u95ee\u3002\u5728DDS\u4e2d\uff0c\u6bcf\u4e00\u4e2a\u53d1\u5e03\u8005\u6216\u8005\u8ba2\u9605\u8005\u90fd\u6210\u4e3a\u53c2\u4e0e\u8005\uff08participant\uff09\uff0c\u7c7b\u4f3c\u4e8eROS\u4e2d\u8282\u70b9\u7684\u6982\u5ff5\u3002\u6bcf\u4e00\u4e2a\u53c2\u4e0e\u8005\u90fd\u53ef\u4ee5\u4f7f\u7528\u67d0\u79cd\u5b9a\u4e49\u597d\u7684\u6570\u636e\u7c7b\u578b\u6765\u8bfb\u5199\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u3002
\n  \u4e0b\u56fe\u5206\u522b\u662fROS1 \u67b6\u6784\u548cROS2 \u67b6\u6784\uff1a
\n\"ROS1<\/p>\n

\"ROS2
\n\uff083\uff09\u5bf9\u591a\u673a\u7cfb\u7edf\u66f4\u4e3a\u53cb\u597d<\/strong><\/p>\n

3\u3001\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8981\u4f7f\u7528\u4e24\u79cd\u8fd0\u884c\u73af\u5883\uff1aUbuntu 20.04 amd64<\/strong> \u548c Ubuntu 20.04 mate arm64<\/strong>\uff0c\u5176\u4e2d\u524d\u8005\u8fd0\u884c\u5728\u7b14\u8bb0\u672c\u4e0a\uff0c\u540e\u8005\u8fd0\u884c\u5728\u6811\u8393\u6d3e4B\u4e0a\u3002\u4ee5amd64\u4e3a\u4e3b\uff0c\u5bf9\u4e8earm64\u7684\u5dee\u5f02\u4f1a\u6709\u4e00\u5b9a\u7684\u8865\u5145\u8bf4\u660e\u3002<\/p>\n

4\u3001\u5728\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8981\u53c2\u8003\u53e4\u6708\u5c45\u7684\u6587\u7ae0\u548cROS2\u7684\u5b98\u65b9\u6559\u7a0b<\/a>\u3002\u5b98\u65b9\u6559\u7a0b\u9664\u4e86\u5728\u7ebf\u9605\u8bfb\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u4e0b\u8f7d\u5230\u672c\u5730<\/p>\n

$ git clone https:\/\/github.com\/ros2\/ros2_documentation.git\n$ cd ~\/ros2_documentation   #\u6ce8\u610f\uff0c\u8fd9\u4e2a\u8def\u5f84\u53ef\u80fd\u4e0d\u4e00\u6837\n$ make html<\/code><\/pre>\n
\u53ef\u80fd\u9700\u8981\u5b89\u88c5\u4e0b\u9762\u4e24\u4e2aPython\u5305<\/p>\n
$ pip3 install sphinx\n$ pip3 install sphinx_tabs<\/code><\/pre>\n
5\u3001\u524d\u8a00\u5c31\u8fd9\u4e9b\uff0c\u4e5f\u8bb8\u8fd8\u4f1a\u8865\u5145…<\/p>\n
\u5b89\u88c5<\/h1>\n
  \u5728Ubuntu 20.04 amd64\u4e0a\u5b89\u88c5ROS2\uff1a\u6839\u636e\u5b98\u65b9\u6559\u7a0bInstalling ROS 2 on Linux<\/a>\u5373\u53ef\u3002
\n  \u5728Ubuntu 20.04 mate arm64\u4e0a\u88c5ROS2\uff1a\u6839\u636e\u5b98\u65b9\u6559\u7a0bBuilding ROS 2 on Linux<\/a>\u5373\u53ef\u3002<\/p>\n
  \u7531\u4e8eROS2\u5bf9arm\u67b6\u6784\u7684\u6811\u8393\u6d3e4B\u7684\u652f\u6301\u4e0d\u591f\uff0c\u6240\u4ee5\u9009\u62e9\u7f16\u8bd1\u6e90\u7801\u7684\u65b9\u5f0f\u5b89\u88c5\uff0c\u8fc7\u7a0b\u5982\u4e0b\u3002<\/p>\n
\u5b89\u88c5\u73af\u5883\uff1a\u57fa\u4e8e\u6811\u8393\u6d3e4B\u4e0eUbuntu20.04 mate<\/h2>\n
\u786c\u4ef6\uff1a\u6811\u8393\u6d3e4B arm64
\n\u7cfb\u7edf\uff1aUbuntu 20.04 mate
\nROS\uff1aROS Foxy<\/p>\n
\u7f16\u8bd1\u8fc7\u7a0b\u975e\u5e38\u6f2b\u957f\uff0c\u4e0d\u7b97\u89e3\u51b3\u95ee\u9898\u7684\u65f6\u95f4\uff0c\u5927\u6982\u9700\u8981\u4e09\u5230\u56db\u4e2a\u5c0f\u65f6…<\/p>\n
\u6ce8\u610f<\/strong> \u7f16\u8bd1\u540ebuild\u6587\u4ef6\u5939\u4e0d\u53ef\u5220\u9664\uff0c~\/ros2_foxy\/install\/setup.bash\u5173\u8054build\u5185\u7684bash\u6587\u4ef6\u3002<\/p>\n
\u6240\u9047\u95ee\u9898<\/h2>\n
1\u3001\u6b65\u9aa4 Add the ROS 2 apt repository<\/strong><\/p>\n
$ gpg\uff1ano valid openPGP data found<\/code><\/pre>\n
\u89e3\u51b3\u65b9\u6848\u53c2\u8003<\/a>\uff0c\u8fd9\u4e2a\u95ee\u9898\u5728amd64\u5b89\u88c5\u4e2d\u4e5f\u5b58\u5728\uff1a<\/p>\n
# \u6253\u5f00hosts\u6587\u4ef6\n$ sudo gedit \/etc\/hosts\n# \u5728\u6587\u4ef6\u672b\u5c3e\u6dfb\u52a0\n151.101.84.133 raw.githubusercontent.com<\/code><\/pre>\n
2\u3001\u6b65\u9aa4 Install dependencies using rosdep<\/strong><\/p>\n
\u89e3\u51b3\u65b9\u6848\u540c\u4e0a<\/p>\n
ERROR: cannot download default source list from\uff1a\nhttps:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/rosdep\/sources.list.d\/20-default.list\nwebsite may be down.<\/code><\/pre>\n
3\u3001\u6b65\u9aa4 Build the code in the workspace\u2014\u2014mimick_vendor<\/strong><\/p>\n
[Processing: mimick_vendor, orocos_kdl, rviz_ogre_vendor, urdfdom]                  \n--- stderr: mimick_vendor                                                           \nCMake Error at CMakeLists.txt:88 (message):\n  Architecture 'armv7l' is not supported.\n\nmake[2]: *** [CMakeFiles\/mimick-ext.dir\/build.make:106: mimick-ext-prefix\/src\/mimick-ext-stamp\/mimick-ext-configure] Error 1\nmake[1]: *** [CMakeFiles\/Makefile2:137: CMakeFiles\/mimick-ext.dir\/all] Error 2\nmake: *** [Makefile:141: all] Error 2\n---\nFailed   <<< mimick_vendor [57.1s, exited with code 2]<\/code><\/pre>\n
\u539f\u56e0\uff1a<\/p>\n
\uff081\uff09mimick\u4e0d\u652f\u6301armv7l\u67b6\u6784\u3002
\n\uff082\uff09GitHub\u6709\u4e24\u4e2amimick\uff0c\u5206\u522b\u662fSnaipe\/Mimick<\/a>\u548cros2\/Mimick<\/a>\uff0c\u540e\u8005\u5728\u524d\u8005\u7684\u57fa\u7840\u4e0a\u4fee\u6539\u5e94\u7528\u5230ros2\u3002
\n\uff083\uff09\u6839\u636e\u8fd9\u91cc<\/a>\uff0carm7l\u662f\u4e00\u4e2a\u4e0d\u540c\u4e8earm32\u7684\u4f53\u7cfb\u7ed3\u6784\uff0c\u5982\u679c\u6ca1\u6709\u660e\u786e\u8868\u793a\u4e3a\u5355\u72ec\u7684\u4f53\u7cfb\u7ed3\u6784\u9009\u9879\uff0c\u5b83\u5c06\u4e0d\u4f1a\u88ab\u68c0\u6d4b\u4e3a\u517c\u5bb9\u7684\u4f53\u7cfb\u7ed3\u6784\u3002
\n\uff084\uff09\u89e3\u51b3\u65b9\u6848\u53c2\u8003Snaipe\/Mimick#17<\/a>\uff1a\u5728Snaipe\/Mimick<\/a>\u548cros2\/Mimick<\/a>\u7684CMakeLists.txt\u4e2d\uff0c\u6709\u5982\u4e0b\u90e8\u5206\uff0c\u53ef\u4ee5\u770b\u5230\u4e0d\u652f\u6301armv7l\u67b6\u6784\u3002<\/p>\n
if (MSVC)\n  \/\/\u7701\u7565\nelse ()\n  set (CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} -std=c99 -Wall -Wextra -Wno-unused-parameter\")\n\n  enable_language (ASM)\n  if (_ARCH MATCHES \"${I386}\")\n    \/\/\u7701\u7565\n  elseif (_ARCH MATCHES \"${AMD64}\")\n    \/\/\u7701\u7565\n  elseif (_ARCH MATCHES \"${ARM32}\")\n    \/\/\u7701\u7565\n  elseif (_ARCH MATCHES \"${ARM64}\")\n    \/\/\u7701\u7565\n  \/\/\u52a0\u5728\u8fd9\u91cc***  \n  else ()\n    message (FATAL_ERROR \"Architecture '${_ARCH}' is not supported.\")\n  endif ()\n  set (ASM_EXTENSION \".S\")\nendif ()<\/code><\/pre>\n
\u89e3\u51b3\u65b9\u6cd5\u662f\u5728\u5bf9\u5e94\u4f4d\u7f6e\u589e\u52a0\u4ee5\u4e0b\u4ee3\u7801\u6bb5\uff1a<\/p>\n
elseif (_ARCH MATCHES \"armv7l\")\n    set (MMK_ARCH \"arm\")\n    set (MMK_ABI \"arm\")\n    set (MMK_BITS 32)\n    set (MMK_ARCH_ARM 1)<\/code><\/pre>\n
\uff085\uff09\u4f46\u662f\uff0c\u8fd9\u4e2aCMakeLists.txt\u5e76\u4e0d\u5728\/src\/ros2\/mimick_verdor\u6587\u4ef6\u5939\u5185\uff0c\u800c\u662f\u5728 \/build\/mimick_vendor\/mimick-ext-prefix\/src\/mimick-ext\uff0c\/src\u5185\u53ea\u63d0\u4f9b\u4e86url\u3002\u9700\u8981\u6253\u8865\u4e01\u7684CMakeLists.txt\u53ef\u4ee5\u5728\u7f16\u8bd1\u51fa\u9519\u540e\u627e\u5230\uff0c\u4fee\u6539\uff0c\u518d\u7f16\u8bd1\u5373\u53ef\u3002
\n\uff086\uff09\u8fd9\u4e2a\u95ee\u9898\u4f30\u8ba1\u5f88\u5feb\u5c31\u4f1a\u88ab\u5b98\u65b9\u4fee\u6539\uff0c\u671f\u5f85…<\/p>\n
4\u3001\u6b65\u9aa4 Build the code in the workspace<\/strong><\/p>\n
\u5982\u679c\u89c9\u5f97\u7f16\u8bd1\u65f6\u95f4\u592a\u957f\uff0c\u53ef\u4ee5\u9009\u62e9\u4e0d\u7f16\u8bd1\u4e00\u4e9b\u5305\uff0c\u5982\u4e00\u4e9bdemo\uff0c\u65b9\u6cd5\u662f\u5728\u5bf9\u5e94\u76ee\u5f55\u4e2d\uff0c\u6dfb\u52a0\u4e00\u4e2a\u6587\u4ef6<\/p>\n
$ touch AMENT_IGNORE<\/code><\/pre>\n
5\u3001\u6b65\u9aa4 Build the code in the workspace\u2014\u2014tracetools<\/strong><\/p>\n
--- stderr: rcl                                                                                                                           \n    CMake Error at CMakeLists.txt:13 (find_package):\n      By not providing \"Findtracetools.cmake\" in CMAKE_MODULE_PATH this project\n      has asked CMake to find a package configuration file provided by\n      \"tracetools\", but CMake did not find one.\n\n      Could not find a package configuration file provided by \"tracetools\" with\n      any of the following names:\n\n        tracetoolsConfig.cmake\n        tracetools-config.cmake\n\n      Add the installation prefix of \"tracetools\" to CMAKE_PREFIX_PATH or set\n      \"tracetools_DIR\" to a directory containing one of the above files.  If\n      \"tracetools\" provides a separate development package or SDK, be sure it has\n      been installed.\n    ---<\/code><\/pre>\n
\u68c0\u67e5\u53d1\u73b0\u76ee\u5f55\/src\/ros-tracing\/ros2_tracing\u4e0b\u662f\u7a7a\u7684\uff0c\u67e5\u770brepos\uff0c\u627e\u5230\u5982\u4e0b\u5185\u5bb9<\/p>\n
ros-tracing\/ros2_tracing:\n    type: git\n    url: https:\/\/gitlab.com\/ros-tracing\/ros2_tracing.git\n    version: foxy<\/code><\/pre>\n
\u7136\u540e\uff0c\u91cd\u65b0\u5728\u5bf9\u5e94\u7684\u5730\u5740\u4e0b\u8f7d\u6e90\u7801\uff0c\u89e3\u538b\u5230\u5bf9\u5e94\u76ee\u5f55\uff0c\u518d\u7f16\u8bd1\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
\u524d\u8a00 1\u3001\u5173\u4e8eROS2.0\u7684\u53d1\u5e03\u80cc\u666f\u3001\u4f18\u52bf\u7b49\uff0c\u53ef\u4ee5\u53c2\u8003\u53e4\u6708\u5c45\u7684ROS2\u63a2\u7d22\u603b\u7ed3\u7cfb\u5217\u3002 2\u3001\u76f8\u6bd4\u4e8eROS1\uff0cROS2\u7684\u7279\u70b9\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u70b9\uff1a \uff081\uff09\u8de8\u5e73\u53f0   \u652f\u6301\u6784\u5efa\u7684\u7cfb\u7edf\u5305\u62ecLinux\u3001windows\u3001Mac\u3001RTOS\u7b49\u3002 \uff082\uff09DDS   ROS2\u53d6\u6d88\u4e86master\u673a\u5236\uff0c\u53d6\u800c\u4ee3\u4e4b\u7684\u662fDDS\uff08Data Distribution Service\uff0c\u6570\u636e\u5206\u53d1\u670d\u52a1\uff09\u3002DDS \u7684\u6280\u672f\u6838\u5fc3\u662f\u4ee5\u6570\u636e\u4e3a\u6838\u5fc3\u7684\u53d1\u5e03\u8ba2\u9605\u6a21\u578b\uff08Data-Centric Publish-Subscribe \uff0cDCPS\uff09\uff0c\u8fd9\u79cdDCPS\u6a21\u578b\u521b\u5efa\u4e86\u4e00\u4e2a\u201c\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u201d\uff08global data space\uff09\u7684\u6982\u5ff5\uff0c\u6240\u6709\u72ec\u7acb\u7684\u5e94\u7528\u90fd\u53ef\u4ee5\u53bb\u8bbf\u95ee\u3002\u5728DDS\u4e2d\uff0c\u6bcf\u4e00\u4e2a\u53d1\u5e03\u8005\u6216\u8005\u8ba2\u9605\u8005\u90fd\u6210\u4e3a\u53c2\u4e0e\u8005\uff08participant\uff09\uff0c\u7c7b\u4f3c\u4e8eROS\u4e2d\u8282\u70b9\u7684\u6982\u5ff5\u3002\u6bcf\u4e00\u4e2a\u53c2\u4e0e\u8005\u90fd\u53ef\u4ee5\u4f7f\u7528\u67d0\u79cd\u5b9a\u4e49\u597d\u7684\u6570\u636e\u7c7b\u578b\u6765\u8bfb\u5199\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u3002   \u4e0b\u56fe\u5206\u522b\u662fROS1 \u67b6\u6784\u548cROS2 \u67b6\u6784\uff1a \uff083\uff09\u5bf9\u591a\u673a\u7cfb\u7edf\u66f4\u4e3a\u53cb\u597d 3\u3001\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8981\u4f7f\u7528\u4e24\u79cd\u8fd0\u884c\u73af\u5883\uff1aUbuntu 20.04 amd64 \u548c Ubuntu 20.04 mate arm64\uff0c\u5176\u4e2d\u524d\u8005\u8fd0\u884c\u5728\u7b14\u8bb0\u672c\u4e0a\uff0c\u540e\u8005\u8fd0\u884c\u5728\u6811\u8393\u6d3e4B\u4e0a\u3002\u4ee5amd64\u4e3a\u4e3b\uff0c\u5bf9\u4e8earm64\u7684\u5dee\u5f02\u4f1a\u6709\u4e00\u5b9a\u7684\u8865\u5145\u8bf4\u660e\u3002 4\u3001\u5728\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8981\u53c2\u8003\u53e4\u6708\u5c45\u7684\u6587\u7ae0\u548cROS2\u7684\u5b98\u65b9\u6559\u7a0b\u3002\u5b98\u65b9\u6559\u7a0b\u9664\u4e86\u5728\u7ebf\u9605\u8bfb\u4e4b\u5916\uff0c\u8fd8\u53ef\u4ee5\u4e0b\u8f7d\u5230\u672c\u5730 $ git clone https:\/\/github.com\/ros2\/ros2_documentation.git $ cd ~\/ros2_documentation #\u6ce8\u610f\uff0c\u8fd9\u4e2a\u8def\u5f84\u53ef\u80fd\u4e0d\u4e00\u6837 $ make html \u53ef\u80fd\u9700\u8981\u5b89\u88c5\u4e0b\u9762\u4e24\u4e2aPython\u5305 $ pip3 install sphinx $ pip3 install sphinx_tabs 5\u3001\u524d\u8a00\u5c31\u8fd9\u4e9b\uff0c\u4e5f\u8bb8\u8fd8\u4f1a\u8865\u5145… \u5b89\u88c5   \u5728Ubuntu 20.04 amd64\u4e0a\u5b89\u88c5ROS2\uff1a\u6839\u636e\u5b98\u65b9\u6559\u7a0bInstalling ROS 2 on […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[4],"tags":[],"_links":{"self":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/143"}],"collection":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=143"}],"version-history":[{"count":2,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/143\/revisions"}],"predecessor-version":[{"id":259,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/143\/revisions\/259"}],"wp:attachment":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=143"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=143"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=143"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}