教程



ROS2 ROS2 DDSROS ROS2 ROS

ROS2 ROS2 ament ROS RMW ROS 2

1.1 1.2

2.1 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5

2.2 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 2.2.7

2.3 2.3.1

1

ROS2ROS

2

Linux Debian ROS2 RMW ROS1

Windows Chocolatey Python Visual Studio Community 2015 DDS OpenCV ROS2 ROS2

Linux

Debian

Beta2ROS2debUbuntu 16.04 ROS2-ardent

Jenkins Instance Repositories Status Pages ( amd64 arm64)

debapt gpg

sudo apt update && sudo apt install curl curl | sudo apt-key add -

apt

sudo sh -c 'echo "deb [arch=amd64,arm64] xenial main" > /etc/apt/sources.list. d/ros2-latest.list'

ROS2

3

ros-ardent-* ros-ardent-ros1-bridge ros-ardent-turtlebot2-* ROS 1

sudo apt update sudo apt install `apt list "ros-ardent-*" 2> /dev/null | grep "/" | awk -F/ '{print $1}' | grep -v -e ros-arden t-ros1-bridge -e ros-ardent-turtlebot2- | tr "\n" " "`

source /opt/ros/ardent/setup.bash

Python argcomplete( 0.8.5 )ROS2

source /opt/ros/ardent/share/ros2cli/environment/ros2-argcomplete.bash

argcomplete

sudo pip install argcomplete

RMW

RMW FastRTPS RMW_IMPLEMENTATION=rmw_opensplice_cppOpenSplice

ROS1

ros1_bridgeTurtleBotROS1 ROS1 dockerdocker imageros:kineticosrf/ros:kinetic-desktop

sudo apt update sudo apt install ros-ardent-ros1-bridge ros-ardent-turtlebot2-*

Windows

4

beta-1Windows8.1Windows10. beta-2Windows10

Chocolatey

Chocolatey windows Chocolatey

Python

Win + RcmdChocolatey Python

choco install -y python

Python C:\Python36 OpenSSL OpenSSL ()

setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg

C:\OpenSSL-Win64\bin\ PATH

Visual Studio Community 2015

Microsoft Visual StudiocommunityROS2 Visual C++Custom installlation

5

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