{"id":145,"date":"2021-11-21T12:41:29","date_gmt":"2021-11-21T12:41:29","guid":{"rendered":"http:\/\/47.103.123.166\/?p=145"},"modified":"2021-11-21T12:41:29","modified_gmt":"2021-11-21T12:41:29","slug":"ros2_foxy%e5%ad%a6%e4%b9%a02-%e7%8e%af%e5%a2%83%e9%85%8d%e7%bd%ae","status":"publish","type":"post","link":"http:\/\/47.103.123.166\/?p=145","title":{"rendered":"ROS2_Foxy\u5b66\u4e602\u2014\u2014\u73af\u5883\u914d\u7f6e"},"content":{"rendered":"<h1>1 \u914d\u7f6e\u73af\u5883\u53d8\u91cf<\/h1>\n<p>&emsp;&emsp;\u4f7f\u7528ROS\u524d\u9700\u8981\u914d\u7f6eROS2\u7684\u73af\u5883\u53d8\u91cf\uff0c\u65b9\u5f0f\u662f\u901a\u8fc7ROS2\u5b89\u88c5\u6587\u4ef6\u7684setup.bash\uff1a\u5bf9\u4e8e\u4e8c\u8fdb\u5236\u6587\u4ef6\u5b89\u88c5\u548c\u7f16\u8bd1\u5b89\u88c5\uff0cbash\u6587\u4ef6\u6240\u5728\u4f4d\u7f6e\u4e0d\u540c\u3002<\/p>\n<pre><code class=\"language-powershell\"># \u4e8c\u8fdb\u5236\u6587\u4ef6\u5b89\u88c5\n$ source \/opt\/ros\/foxy\/setup.bash\n# \u7f16\u8bd1\u5b89\u88c5\uff0c\u5728install\u6587\u4ef6\u5939\u5185\n$ source ~\/ros2_foxy\/install\/setup.bash<\/code><\/pre>\n<p><strong>\u6ce8\u610f<\/strong>\uff1a\u7f16\u8bd1\u540ebuild\u6587\u4ef6\u5939\u4e0d\u53ef\u5220\u9664\uff0c~\/ros2_foxy\/install\/setup.bash\u5173\u8054\/build\u5185\u7684bash\u6587\u4ef6\u3002<\/p>\n<p>&emsp;&emsp;\u6bcf\u6b21\u6253\u5f00\u65b0\u7684\u7ec8\u7aef\u90fd\u9700\u8981source\u4e00\u6b21\uff0c\u4ee5\u83b7\u53d6ROS2\u5b89\u88c5\u6587\u4ef6\uff0c\u4e5f\u53ef\u4ee5\u9009\u62e9\u5c06source\u7684\u8fc7\u7a0b\u6dfb\u52a0\u5230\u542f\u52a8\u811a\u672c\u4e2d\uff0c\u8fd9\u6837\u5c31\u4e0d\u9700\u8981\u6bcf\u6b21\u90fdsource\u3002<\/p>\n<pre><code class=\"language-powershell\">$ echo \"source \/opt\/ros\/foxy\/setup.bash\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n<p>&emsp;&emsp;\u53e6\u5916\uff0c\u542f\u52a8\u811a\u672c\u7684\u4fee\u6539\u53ea\u9700\u8981\u6253\u5f00bashrc\u6587\u4ef6\u4fee\u6539\u5373\u53ef<\/p>\n<pre><code class=\"language-powershell\">$ sudo gedit ~\/.bashrc<\/code><\/pre>\n<p><strong>\u6ce8\u610f<\/strong>\uff1a\u542f\u52a8\u811a\u672c\u4fee\u6539\u540e\uff0c\u9700\u8981\u91cd\u542f\u7ec8\u7aef\u4ee5\u5b9e\u73b0\u3002<\/p>\n<h1>2 \u68c0\u67e5\u73af\u5883\u53d8\u91cf<\/h1>\n<p>&emsp;&emsp;\u5982\u679c\u5728\u7f16\u8bd1\u65f6\u627e\u4e0d\u5230\u5305\uff0c\u53ef\u4ee5\u68c0\u67e5\u73af\u5883\u53d8\u91cf\uff0cfoxy\u5e94\u8be5\u6709\u4ee5\u4e0b\u5185\u5bb9\u3002<\/p>\n<pre><code class=\"language-powershell\">$ printenv | grep -i ROS\n\nROS_VERSION=2\nROS_PYTHON_VERSION=3\nROS_DISTRO=foxy<\/code><\/pre>\n<p>&emsp;&emsp;\u5bf9\u4e8e\u591a\u673a\u95ee\u9898\uff0c\u4e3a\u533a\u5206<strong>\u5404\u7ec4<\/strong>\u673a\u5668\u4eba\uff0c\u9700\u8981\u4fee\u6539\u4e00\u4e2a\u73af\u5883\u53d8\u91cfROS_DOMAIN_ID\uff0c\u5176\u503c\u662f0~232\u7684\u6574\u6570\u3002ROS_DOMAIN_ID\u76f8\u540c\u7684\u673a\u5668\u4eba\u5c5e\u4e8e\u4e00\u4e2a\u7ec4\uff0c\u53ef\u4ee5\u901a\u4fe1\uff0c\u800c\u4e0d\u540c\u57dfID\u7684\u673a\u5668\u4eba\u4e0d\u80fd\u901a\u4fe1\u4e14\u4e92\u4e0d\u5f71\u54cd\u3002\u73af\u5883\u53d8\u91cf\u7684\u8bbe\u7f6e\u5982\u4e0b\uff1a<\/p>\n<pre><code class=\"language-powershell\"># \u6ce8\u610f \uff01\uff01\uff01 \u7b49\u53f7\u4e24\u4fa7\u4e0d\u8981\u6709\u7a7a\u683c\n$ export ROS_DOMAIN_ID=&lt;your_domain_id&gt; \n# \u4e5f\u53ef\u4ee5\u5199\u5165\u542f\u52a8\u811a\u672c\n$ echo \"export ROS_DOMAIN_ID=&lt;your_domain_id&gt;\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>1 \u914d\u7f6e\u73af\u5883\u53d8\u91cf &emsp;&emsp;\u4f7f\u7528ROS\u524d\u9700\u8981\u914d\u7f6eROS2\u7684\u73af\u5883\u53d8\u91cf\uff0c\u65b9\u5f0f\u662f\u901a\u8fc7ROS2\u5b89\u88c5\u6587\u4ef6\u7684setup.bash\uff1a\u5bf9\u4e8e\u4e8c\u8fdb\u5236\u6587\u4ef6\u5b89\u88c5\u548c\u7f16\u8bd1\u5b89\u88c5\uff0cbash\u6587\u4ef6\u6240\u5728\u4f4d\u7f6e\u4e0d\u540c\u3002 # \u4e8c\u8fdb\u5236\u6587\u4ef6\u5b89\u88c5 $ source \/opt\/ros\/foxy\/setup.bash # \u7f16\u8bd1\u5b89\u88c5\uff0c\u5728install\u6587\u4ef6\u5939\u5185 $ source ~\/ros2_foxy\/install\/setup.bash \u6ce8\u610f\uff1a\u7f16\u8bd1\u540ebuild\u6587\u4ef6\u5939\u4e0d\u53ef\u5220\u9664\uff0c~\/ros2_foxy\/install\/setup.bash\u5173\u8054\/build\u5185\u7684bash\u6587\u4ef6\u3002 &emsp;&emsp;\u6bcf\u6b21\u6253\u5f00\u65b0\u7684\u7ec8\u7aef\u90fd\u9700\u8981source\u4e00\u6b21\uff0c\u4ee5\u83b7\u53d6ROS2\u5b89\u88c5\u6587\u4ef6\uff0c\u4e5f\u53ef\u4ee5\u9009\u62e9\u5c06source\u7684\u8fc7\u7a0b\u6dfb\u52a0\u5230\u542f\u52a8\u811a\u672c\u4e2d\uff0c\u8fd9\u6837\u5c31\u4e0d\u9700\u8981\u6bcf\u6b21\u90fdsource\u3002 $ echo &#8220;source \/opt\/ros\/foxy\/setup.bash&#8221; &gt;&gt; ~\/.bashrc &emsp;&emsp;\u53e6\u5916\uff0c\u542f\u52a8\u811a\u672c\u7684\u4fee\u6539\u53ea\u9700\u8981\u6253\u5f00bashrc\u6587\u4ef6\u4fee\u6539\u5373\u53ef $ sudo gedit ~\/.bashrc \u6ce8\u610f\uff1a\u542f\u52a8\u811a\u672c\u4fee\u6539\u540e\uff0c\u9700\u8981\u91cd\u542f\u7ec8\u7aef\u4ee5\u5b9e\u73b0\u3002 2 \u68c0\u67e5\u73af\u5883\u53d8\u91cf &emsp;&emsp;\u5982\u679c\u5728\u7f16\u8bd1\u65f6\u627e\u4e0d\u5230\u5305\uff0c\u53ef\u4ee5\u68c0\u67e5\u73af\u5883\u53d8\u91cf\uff0cfoxy\u5e94\u8be5\u6709\u4ee5\u4e0b\u5185\u5bb9\u3002 $ printenv | grep -i ROS ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_DISTRO=foxy &emsp;&emsp;\u5bf9\u4e8e\u591a\u673a\u95ee\u9898\uff0c\u4e3a\u533a\u5206\u5404\u7ec4\u673a\u5668\u4eba\uff0c\u9700\u8981\u4fee\u6539\u4e00\u4e2a\u73af\u5883\u53d8\u91cfROS_DOMAIN_ID\uff0c\u5176\u503c\u662f0~232\u7684\u6574\u6570\u3002ROS_DOMAIN_ID\u76f8\u540c\u7684\u673a\u5668\u4eba\u5c5e\u4e8e\u4e00\u4e2a\u7ec4\uff0c\u53ef\u4ee5\u901a\u4fe1\uff0c\u800c\u4e0d\u540c\u57dfID\u7684\u673a\u5668\u4eba\u4e0d\u80fd\u901a\u4fe1\u4e14\u4e92\u4e0d\u5f71\u54cd\u3002\u73af\u5883\u53d8\u91cf\u7684\u8bbe\u7f6e\u5982\u4e0b\uff1a # \u6ce8\u610f \uff01\uff01\uff01 \u7b49\u53f7\u4e24\u4fa7\u4e0d\u8981\u6709\u7a7a\u683c $ export ROS_DOMAIN_ID=&lt;your_domain_id&gt; # \u4e5f\u53ef\u4ee5\u5199\u5165\u542f\u52a8\u811a\u672c $ echo &#8220;export ROS_DOMAIN_ID=&lt;your_domain_id&gt;&#8221; &gt;&gt; ~\/.bashrc<\/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\/145"}],"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=145"}],"version-history":[{"count":1,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/145\/revisions"}],"predecessor-version":[{"id":146,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/145\/revisions\/146"}],"wp:attachment":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=145"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=145"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=145"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}