# ROS2

**Repository Path**: wanghaozheng/ros2

## Basic Information

- **Project Name**: ROS2
- **Description**: ROS2作业
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 3
- **Forks**: 0
- **Created**: 2022-11-29
- **Last Updated**: 2025-07-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 〇、杂项

## 1、安装ROS2(humble)
```
echo "deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt install curl gnupg2 -y

curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-humble-desktop -y

sudo apt install python3-argcomplete -y

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
```
安装路径为`/opt/ros/humble/`
![](image/〇.1.png)
## 2、创建工作空间
```
mkdir ~/wanghaozheng/src -p
```
## 3、编译工作空间功能包
```
cd ~/wanghaozheng

colcon build
```
## 4、添加 source
```
source ~/wanghaozheng/install/setup.bash
```
## 5、修改ament_cmake中的CMakeLists.txt文件
在文件中添加上：
~~~
install(TARGETS 
<节点名字>
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME})
~~~
## 6、修改ament_python中的setup.py文件
在setup.py文件最后的列表:
~~~
entry_points={
        'console_scripts': [
        ],
    },
~~~
中添加上：
~~~
    "<节点名>=<功能包名>.<运行文件名>:main"    
~~~
修改成：
~~~
entry_points={
        'console_scripts': [
        "qr=QR_Code.qr:main",
        "display=QR_Code.qrr:main",
        "create=QR_Code.create:main"
        ],
    },
~~~
   
# 一、正确读取摄像头数据
## 1、安装依赖
二进制安装 image_pipeline 系列功能包
```
sudo apt-get install ros-humble-image-pipeline
```
## 2、启动节点
调用本地摄像头（或者通过URDF模型的gazebo_camera插件模拟摄像头），发布/camera/image_raw和/camera/camera_info话题
```
ros2 launch image_publisher image_publisher_mono.launch.py
```
## 3、验证
可以通过rqt的image view插件订阅/camera/image_raw话题查看预览图像
```
ros2 run rqt_image_view rqt_image_view
```
## 4、结果：
摄像头节点启动显示：
![](image/ros%E8%8E%B7%E5%8F%96%E6%91%84%E5%83%8F%E5%A4%B4%E6%95%B0%E6%8D%AE%E5%90%AF%E5%8A%A8%E6%98%BE%E7%A4%BA.png)
摄像头获取画面结果:
![](image/ros%E8%8E%B7%E5%8F%96%E6%91%84%E5%83%8F%E5%A4%B4%E6%95%B0%E6%8D%AE%E6%95%88%E6%9E%9C%E6%98%BE%E7%A4%BA.png)

# 四、通过URDF创建机器人
## 1、要求：Gazebo ros2-humble
### 安装 Gazebo
```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden
```
## 2、功能包：robot_urdf
## 3、运行：
```
ros2 launch robot_urdf gazebo.launch.py
```
## 4、结果：
![](image/%E6%9C%BA%E5%99%A8%E4%BA%BAurdf%E6%A8%A1%E5%9E%8B.jpg)

# 二、正确读取Imu传感器实时反馈小车的状态
## 1、要求：Gazebo ros2-humble
### 安装 Gazebo
```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden
```
## 2、功能包：robot_urdf
## 3、运行：
```
ros2 launch robot_urdf gazebo.launch.py
ros2 topic echo imu
```
## 4、结果：
![](image/imu%E5%8F%8D%E9%A6%88%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%8A%B6%E6%80%81.jpg)
# 三、读取激光雷达数据
## 1、要求：Gazebo ros2-humble
### 安装 Gazebo
```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden
```
## 2、功能包：robot_urdf
## 3、运行：
```
ros2 launch robot_urdf gazebo.launch.py
ros2 topic echo scan
```
## 4、结果：
![](image/三.1.png)
# 十五、完成摄像头二维码识别
## 1、前言：
&ensp;&ensp;QR码是二维条码的一种，QR 来自英文 “Quick Response” 的缩写，即快速反应的意思，源自发明者希望 QR 码可让其内容快速被解码。QR码不仅信息容量大、可靠性高、成本低，还可表示汉字及图像等多种文字信息、其保密防伪性强而且使用非常方便。并且其技术是开源的。下图为QR码的结构。
![](image/%E4%BA%8C%E7%BB%B4%E7%A0%81%E5%8C%BA%E5%9D%97%E6%98%8E%E7%A4%BA.png)
## 2、要求：ros2-humble usb摄像头
安装：
~~~
pip install qrcode 
pip install pyzbar  
pip install opencv-python
~~~
## 2、功能包：QR_Code image_publisher
## 3、运行：
打开摄像头并发布数据：
~~~
ros2 launch image_publisher image_publisher_mono.launch.py
~~~
启动功能并订阅数据，开始识别：
~~~
ros2 launch QR_Code launch.py
~~~
![](image/%E4%BA%8C%E7%BB%B4%E7%A0%81%E8%AF%86%E5%88%AB%E5%8A%9F%E8%83%BD%E5%90%AF%E5%8A%A8%E6%98%BE%E7%A4%BA.png)
 
&ensp;&ensp;识别程序主要是订阅了一个名为image_raw的话题，接收到的消息是由摄像头节点发布出来的image类型的图片（具体应该是二维数组），成功解析后同过一个名为QR_Code_Content的话题将内容发布出去。以下是创建发布者和订阅者。
```
self.identify_sub=self.create_subscription(Image,"camera/image_raw",self.command_callback,10)
self.identify_pub=self.create_publisher(String,"QR_Code_Content",10)
```
&ensp;&ensp;接收到image_raw的Image类型消息后执行名为command_callback的回调函数，调用cv_bridge模块中的CvBridge方法将二维数组转换成颜色矩阵进行解析。
```
frame = self.br.imgmsg_to_cv2(massage)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
```
&ensp;&ensp;之后将内容与二维码类型进行发布与输出，供生成二维码使用。
## 4、效果：
![](image/%E4%BA%8C%E7%BB%B4%E7%A0%81%E8%AF%86%E5%88%AB%E5%86%85%E5%AE%B9%E6%98%BE%E7%A4%BA.png)
 
# 十六、实现SLAM导航 十三、完成避障规划 十八、能完成机器人自动避障
## 1、要求：Gazebo ros2-humble Cartographer Navigation2
### 安装 Gazebo
```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden
```
### 安装 Cartographer
```
sudo apt install ros-humble-cartographer
Copy to clipboardErrorCopied

sudo apt install ros-humble-cartographer-ros
```
### 安装 Navigation2
```
sudo apt install ros-humble-nav2-*
```
## 2、功能包：robot_urdf robot_cartographer robot_navigation2
## 3、启动地图：
```
ros2 launch robot_urdf gazebo.launch.py
```
## 4、建图：
运行键盘控制节点
```
ros2 run teleop_twist_keyboard teleop_twist_keyboard 
```
运行建图节点
```
ros2 launch robot_cartographer cartographer.launch.py
```
通过键盘操纵机器人进行建图

保存建图数据
```
cd ~/wanghaozheng/src/robot_cartographer/map
ros2 run nav2_map_server map_saver_cli -t map -f map
```
复制地图文件

复制文件夹 `robot_cartographer/maps` 到 `robot_navigation2/maps`
## 5、运行Nav2
```
ros2 launch fishbot_navigation2 navigation2.launch.py
```
# 五、通过TF功能实现机器人摄像头（雷达等）与机器人（小车）本体的坐标变换
## 1、要求：ros2-humble 
## 2、功能包：robot_urdf
## 3、结果
![](image/五.1.png)
# 七、能通过语音库获取语音指令 十七、能通过语音控制机器人
## 1、要求：snowboy PaddleSpeech
### 安装 snowboy
```
sudo apt-get install python-pyaudio python3-pyaudio sox
pip install pyaudio
```
```
cd ~
git clone https://github.com/Kitt-AI/snowboy.git
cd snowboy/swig/Python3
make
```
复制 `_snowboydetect.so` 到 `robot_voice/lib`
### Windows 安装 PaddleSpeech (另一台设备)
选择一台有 NVIDA GPU 的设备安装 PaddleSpeech

首先安装 Conda 创建 `python==3.9` 环境 

```
pip install pytest-runner -i https://pypi.tuna.tsinghua.edu.cn/simple

pip install paddlepaddle-gpu==2.3.2.post116 -f https://www.paddlepaddle.org.cn/whl/windows/mkl/avx/stable.html

pip install paddlespeech -i https://pypi.tuna.tsinghua.edu.cn/simple
```
### Windows 运行 PaddleSpeech (另一台设备)
管理员运行 `PaddleSpeech.bat`

http://127.0.0.1:8090 为HTTP API 接口调用 URL

### 制作唤醒词模型
`https://snowboy.hahack.com/`

录制6条语音以上保证准确率

然后导出模型`white.pmdl`并放到`robot_voice/models`
## 2、功能包：robot_voice
## 3、运行：
```
ros2 launch robot_voice launch.py
```
## 4、结果
![](image/七.1.png)
![](image/七.2.png)

# 八、控制小车移动
## 1、要求：Gazebo ros2-humble
### 安装 Gazebo
```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden
```
## 2、功能包：robot_urdf teleop_twist_joy
## 3、运行：
```
ros2 launch robot_urdf gazebo.launch.py

ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' joy_dev:='/dev/input/js1'
```
## 4、结果：
![](image/%E6%8E%A7%E5%88%B6%E5%B0%8F%E8%BD%A6%E7%A7%BB%E5%8A%A8.jpg)
![](image/%E6%8E%A7%E5%88%B6%E5%B0%8F%E8%BD%A6%E7%A7%BB%E5%8A%A82.jpg)
手柄控制小车移动
# 六、获取操纵杆（遥控）的操作数据
## 1、要求：ros2-humble 手柄
## 2、功能包：teleop_twist_joy
官方文档地址：
https://index.ros.org/p/teleop_twist_joy/github-ros2-teleop_twist_joy/
## 3、运行：

```
ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' joy_dev:='/dev/input/js1'

ros2 topic echo joy
```
## 4、结果：
![](image/%E8%8E%B7%E5%8F%96%E6%89%8B%E6%9F%84%E6%95%B0%E6%8D%AE.jpg)

# 九、创建机械臂URDF模型
# 十、实现机械臂的关节空间规划
# 十一、实现机械臂的工作空间规划
# 十二、实现机械臂的笛卡尔运动规划
# 十四、机械臂完成自动抓取功能