ROS 2 Humble Hawksbill 环境基础

安装和使用系统环境如下

支持Ubuntu+Windows等：

其实现在Ubuntu+Windows一家亲，如下，♥。

DDS依据项目需要安装合适版本。

基本上啥都支持，何止ubuntu，移动端很多APP都直接用。

回归主题！ROS2 Humble基础

环境：

Ubuntu source /opt/ros/humble/setup.bash

Windows call C:\dev\ros2\local_setup.bat

显示环境变量：

U：printenv | grep -i ROS

W：set | findstr -i ROS

设置 ROS_DOMAIN_ID 网络相关

U： export ROS_DOMAIN_ID=<your_domain_id>

W： set ROS_DOMAIN_ID=<your_domain_id>

使用前需要正确配置ROS 2开发环境。这可以通过两种方式完成：在打开的每个新 shell 中获取设置文件，或者将 source 命令添加到启动脚本中。

如果在定位或使用 ROS 2 软件包时遇到任何问题，应该做的第一件事是检查环境变量并确保它们设置为想要的版本和发行版。

turtlesim

如上是ROS2吉祥物全集

ros2 pkg executables turtlesim

重命名

ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel

图形化工具rqt

sudo apt install ros-humble-rqt-robot-*

安装包日期220520

Setting up ros-humble-rqt-robot-monitor (1.0.5-2jammy.20220520.023300) ...
Setting up ros-humble-rqt-robot-steering (1.0.0-4jammy.20220520.023302) ...
Setting up ros-humble-rqt-robot-dashboard (0.6.1-3jammy.20220520.023534) ...

zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 run rqt_robot_steering rqt_robot_steering
qt_gui_main() found no plugin matching "rqt_robot_steering.robot_steering.RobotSteering"
try passing the option "--force-discover"
[ros2run]: Process exited with failure 1
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 run rqt_robot_steering rqt_robot_steering --force-discover

核心功能包，源码地址如下，需要切换为humble：

repositories:ament/ament_cmake:type: giturl: https://github.com/ament/ament_cmake.gitversion: masterament/ament_index:type: giturl: https://github.com/ament/ament_index.gitversion: masterament/ament_lint:type: giturl: https://github.com/ament/ament_lint.gitversion: masterament/ament_package:type: giturl: https://github.com/ament/ament_package.gitversion: masterament/google_benchmark_vendor:type: giturl: https://github.com/ament/google_benchmark_vendor.gitversion: mainament/googletest:type: giturl: https://github.com/ament/googletest.gitversion: ros2ament/uncrustify_vendor:type: giturl: https://github.com/ament/uncrustify_vendor.gitversion: mastereProsima/Fast-CDR:type: giturl: https://github.com/eProsima/Fast-CDR.gitversion: mastereProsima/Fast-DDS:type: giturl: https://github.com/eProsima/Fast-DDS.gitversion: mastereProsima/foonathan_memory_vendor:type: giturl: https://github.com/eProsima/foonathan_memory_vendor.gitversion: mastereclipse-cyclonedds/cyclonedds:type: giturl: https://github.com/eclipse-cyclonedds/cyclonedds.gitversion: releases/0.9.xeclipse-iceoryx/iceoryx:type: giturl: https://github.com/eclipse-iceoryx/iceoryx.gitversion: release_2.0ignition/ignition_cmake2_vendor:type: giturl: https://github.com/ignition-release/ignition_cmake2_vendor.gitversion: mainignition/ignition_math6_vendor:type: giturl: https://github.com/ignition-release/ignition_math6_vendor.gitversion: mainosrf/osrf_pycommon:type: giturl: https://github.com/osrf/osrf_pycommon.gitversion: masterosrf/osrf_testing_tools_cpp:type: giturl: https://github.com/osrf/osrf_testing_tools_cpp.gitversion: masterros-perception/image_common:type: giturl: https://github.com/ros-perception/image_common.gitversion: ros2ros-perception/laser_geometry:type: giturl: https://github.com/ros-perception/laser_geometry.gitversion: ros2ros-planning/navigation_msgs:type: giturl: https://github.com/ros-planning/navigation_msgs.gitversion: ros2ros-tooling/keyboard_handler:type: giturl: https://github.com/ros-tooling/keyboard_handler.gitversion: mainros-tooling/libstatistics_collector:type: giturl: https://github.com/ros-tooling/libstatistics_collector.gitversion: masterros-tracing/ros2_tracing:type: giturl: https://gitlab.com/ros-tracing/ros2_tracing.gitversion: masterros-visualization/interactive_markers:type: giturl: https://github.com/ros-visualization/interactive_markers.gitversion: ros2ros-visualization/python_qt_binding:type: giturl: https://github.com/ros-visualization/python_qt_binding.gitversion: mainros-visualization/qt_gui_core:type: giturl: https://github.com/ros-visualization/qt_gui_core.gitversion: mainros-visualization/rqt:type: giturl: https://github.com/ros-visualization/rqt.gitversion: ros2ros-visualization/rqt_action:type: giturl: https://github.com/ros-visualization/rqt_action.gitversion: ros2ros-visualization/rqt_bag:type: giturl: https://github.com/ros-visualization/rqt_bag.gitversion: ros2ros-visualization/rqt_console:type: giturl: https://github.com/ros-visualization/rqt_console.gitversion: ros2ros-visualization/rqt_graph:type: giturl: https://github.com/ros-visualization/rqt_graph.gitversion: galactic-develros-visualization/rqt_msg:type: giturl: https://github.com/ros-visualization/rqt_msg.gitversion: foxy-develros-visualization/rqt_plot:type: giturl: https://github.com/ros-visualization/rqt_plot.gitversion: foxy-develros-visualization/rqt_publisher:type: giturl: https://github.com/ros-visualization/rqt_publisher.gitversion: foxy-develros-visualization/rqt_py_console:type: giturl: https://github.com/ros-visualization/rqt_py_console.gitversion: crystal-develros-visualization/rqt_reconfigure:type: giturl: https://github.com/ros-visualization/rqt_reconfigure.gitversion: dashingros-visualization/rqt_service_caller:type: giturl: https://github.com/ros-visualization/rqt_service_caller.gitversion: crystal-develros-visualization/rqt_shell:type: giturl: https://github.com/ros-visualization/rqt_shell.gitversion: crystal-develros-visualization/rqt_srv:type: giturl: https://github.com/ros-visualization/rqt_srv.gitversion: crystal-develros-visualization/rqt_topic:type: giturl: https://github.com/ros-visualization/rqt_topic.gitversion: foxy-develros-visualization/tango_icons_vendor:type: giturl: https://github.com/ros-visualization/tango_icons_vendor.gitversion: masterros/class_loader:type: giturl: https://github.com/ros/class_loader.gitversion: ros2ros/kdl_parser:type: giturl: https://github.com/ros/kdl_parser.gitversion: ros2ros/pluginlib:type: giturl: https://github.com/ros/pluginlib.gitversion: ros2ros/resource_retriever:type: giturl: https://github.com/ros/resource_retriever.gitversion: ros2ros/robot_state_publisher:type: giturl: https://github.com/ros/robot_state_publisher.gitversion: ros2ros/ros_environment:type: giturl: https://github.com/ros/ros_environment.gitversion: rollingros/ros_tutorials:type: giturl: https://github.com/ros/ros_tutorials.gitversion: rolling-develros/urdfdom:type: giturl: https://github.com/ros/urdfdom.gitversion: masterros/urdfdom_headers:type: giturl: https://github.com/ros/urdfdom_headers.gitversion: masterros2/ament_cmake_ros:type: giturl: https://github.com/ros2/ament_cmake_ros.gitversion: masterros2/common_interfaces:type: giturl: https://github.com/ros2/common_interfaces.gitversion: masterros2/console_bridge_vendor:type: giturl: https://github.com/ros2/console_bridge_vendor.gitversion: masterros2/demos:type: giturl: https://github.com/ros2/demos.gitversion: masterros2/eigen3_cmake_module:type: giturl: https://github.com/ros2/eigen3_cmake_module.gitversion: masterros2/example_interfaces:type: giturl: https://github.com/ros2/example_interfaces.gitversion: masterros2/examples:type: giturl: https://github.com/ros2/examples.gitversion: masterros2/geometry2:type: giturl: https://github.com/ros2/geometry2.gitversion: ros2ros2/launch:type: giturl: https://github.com/ros2/launch.gitversion: masterros2/launch_ros:type: giturl: https://github.com/ros2/launch_ros.gitversion: masterros2/libyaml_vendor:type: giturl: https://github.com/ros2/libyaml_vendor.gitversion: masterros2/message_filters:type: giturl: https://github.com/ros2/message_filters.gitversion: masterros2/mimick_vendor:type: giturl: https://github.com/ros2/mimick_vendor.gitversion: masterros2/orocos_kdl_vendor:type: giturl: https://github.com/ros2/orocos_kdl_vendor.gitversion: mainros2/performance_test_fixture:type: giturl: https://github.com/ros2/performance_test_fixture.gitversion: mainros2/pybind11_vendor:type: giturl: https://github.com/ros2/pybind11_vendor.gitversion: masterros2/python_cmake_module:type: giturl: https://github.com/ros2/python_cmake_module.gitversion: masterros2/rcl:type: giturl: https://github.com/ros2/rcl.gitversion: masterros2/rcl_interfaces:type: giturl: https://github.com/ros2/rcl_interfaces.gitversion: masterros2/rcl_logging:type: giturl: https://github.com/ros2/rcl_logging.gitversion: masterros2/rclcpp:type: giturl: https://github.com/ros2/rclcpp.gitversion: masterros2/rclpy:type: giturl: https://github.com/ros2/rclpy.gitversion: masterros2/rcpputils:type: giturl: https://github.com/ros2/rcpputils.gitversion: masterros2/rcutils:type: giturl: https://github.com/ros2/rcutils.gitversion: masterros2/realtime_support:type: giturl: https://github.com/ros2/realtime_support.gitversion: masterros2/rmw:type: giturl: https://github.com/ros2/rmw.gitversion: masterros2/rmw_connextdds:type: giturl: https://github.com/ros2/rmw_connextdds.gitversion: masterros2/rmw_cyclonedds:type: giturl: https://github.com/ros2/rmw_cyclonedds.gitversion: masterros2/rmw_dds_common:type: giturl: https://github.com/ros2/rmw_dds_common.gitversion: masterros2/rmw_fastrtps:type: giturl: https://github.com/ros2/rmw_fastrtps.gitversion: masterros2/rmw_implementation:type: giturl: https://github.com/ros2/rmw_implementation.gitversion: masterros2/ros2cli:type: giturl: https://github.com/ros2/ros2cli.gitversion: masterros2/ros2cli_common_extensions:type: giturl: https://github.com/ros2/ros2cli_common_extensions.gitversion: masterros2/ros_testing:type: giturl: https://github.com/ros2/ros_testing.gitversion: masterros2/rosbag2:type: giturl: https://github.com/ros2/rosbag2.gitversion: masterros2/rosidl:type: giturl: https://github.com/ros2/rosidl.gitversion: masterros2/rosidl_dds:type: giturl: https://github.com/ros2/rosidl_dds.gitversion: masterros2/rosidl_defaults:type: giturl: https://github.com/ros2/rosidl_defaults.gitversion: masterros2/rosidl_python:type: giturl: https://github.com/ros2/rosidl_python.gitversion: masterros2/rosidl_runtime_py:type: giturl: https://github.com/ros2/rosidl_runtime_py.gitversion: masterros2/rosidl_typesupport:type: giturl: https://github.com/ros2/rosidl_typesupport.gitversion: masterros2/rosidl_typesupport_fastrtps:type: giturl: https://github.com/ros2/rosidl_typesupport_fastrtps.gitversion: masterros2/rpyutils:type: giturl: https://github.com/ros2/rpyutils.gitversion: masterros2/rviz:type: giturl: https://github.com/ros2/rviz.gitversion: ros2ros2/spdlog_vendor:type: giturl: https://github.com/ros2/spdlog_vendor.gitversion: masterros2/sros2:type: giturl: https://github.com/ros2/sros2.gitversion: masterros2/system_tests:type: giturl: https://github.com/ros2/system_tests.gitversion: masterros2/test_interface_files:type: giturl: https://github.com/ros2/test_interface_files.gitversion: masterros2/tinyxml2_vendor:type: giturl: https://github.com/ros2/tinyxml2_vendor.gitversion: masterros2/tinyxml_vendor:type: giturl: https://github.com/ros2/tinyxml_vendor.gitversion: masterros2/tlsf:type: giturl: https://github.com/ros2/tlsf.gitversion: masterros2/unique_identifier_msgs:type: giturl: https://github.com/ros2/unique_identifier_msgs.gitversion: masterros2/urdf:type: giturl: https://github.com/ros2/urdf.gitversion: ros2ros2/yaml_cpp_vendor:type: giturl: https://github.com/ros2/yaml_cpp_vendor.gitversion: master

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