Linux Ubuntu20.04 下安装ros,及出现的roscore问题解决
Ubuntu20.04---ros
快速安装ros系统:
wget http://fishros.com/install -O fishros && .fishros
//如果报错,在.fishros中间加个空格
wget http://fishros.com/install -O fishros && . fishros
sudo chmod a+x fishros
./fishros
问题:
执行roscore命令时, 报错
WARNING: unable to configure logging. No log files will be generated
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.Resource not found: roslaunch
The traceback for the exception was written to the log file
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/roslaunch/__init__.py", line 322, in main
p.start()
File "/usr/lib/python3/dist-packages/roslaunch/parent.py", line 277, in start
self._start_infrastructure()
File "/usr/lib/python3/dist-packages/roslaunch/parent.py", line 226, in _start_infrastructure
self._load_config()
File "/usr/lib/python3/dist-packages/roslaunch/parent.py", line 137, in _load_config
self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port,
File "/usr/lib/python3/dist-packages/roslaunch/config.py", line 447, in load_config_default
load_roscore(loader, config, verbose=verbose)
File "/usr/lib/python3/dist-packages/roslaunch/config.py", line 92, in load_roscore
f_roscore = get_roscore_filename()
File "/usr/lib/python3/dist-packages/roslaunch/config.py", line 84, in get_roscore_filename
return os.path.join(r.get_path('roslaunch'), 'resources', 'roscore.xml')
File "/usr/lib/python3/dist-packages/rospkg/rospack.py", line 207, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: roslaunch
解决:
安装roslaunch
sudo apt install python3-roslaunch
配置环境变量
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc //ros2的foxy版本
source ~/.bashrc //选择相应版本
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc //ros1的noetic版本
source ~/.bashrc //选择相应版本
测试:
输入ros2
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2 is an extensible command-line tool for ROS 2.
optional arguments:
-h, --help show this help message and exitCommands:
action Various action related sub-commands
bag Various rosbag related sub-commands
component Various component related sub-commands
daemon Various daemon related sub-commands
doctor Check ROS setup and other potential issues
interface Show information about ROS interfaces
launch Run a launch file
lifecycle Various lifecycle related sub-commands
multicast Various multicast related sub-commands
node Various node related sub-commands
param Various param related sub-commands
pkg Various package related sub-commands
run Run a package specific executable
security Various security related sub-commands
service Various service related sub-commands
topic Various topic related sub-commands
wtf Use `wtf` as alias to `doctor`
输入roscore
... logging to /home/chen/.ros/log/68ed6b88-648a-11ed-a687-051feb7f109f/roslaunch-qian-50681.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://qian:36431/
ros_comm version 1.15.14
SUMMARY
========PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.14NODES
auto-starting new master
process[master]: started with pid [50689]
ROS_MASTER_URI=http://qian:11311/setting /run_id to 68ed6b88-648a-11ed-a687-051feb7f109f
process[rosout-1]: started with pid [50699]
started core service [/rosout]
打开一个新终端,启动小海龟仿真器
//ros1:
rosrun turtlesim turtlesim_node
//ros2:
ros2 run turtlesim turtlesim_node
[ INFO] [1668478292.143024567]: Starting turtlesim with node name /turtlesim
[ INFO] [1668478292.154706717]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
再次打开一个新的终端,开启控制节点,控制小海龟动起来
//ros1:
rosrun turtlesim turtle_teleop_key
//ros2:
ros2 run turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.//在该终端通过上下左右方向键控制小海龟运动,q退出
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