# Ros2Study

**Repository Path**: wrdoct/ros2-study

## Basic Information

- **Project Name**: Ros2Study
- **Description**: Ros2Study
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-12-02
- **Last Updated**: 2025-02-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

wget http://fishros.com/install -O fishros && . fishros
选择humble版本的ROS2即可
# 安装的是humble版本的ROS，所以安装目录在/opt/ros/humble下  echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
sudo apt remove ros-humble-*
sudo apt autoremove

```
mkdir src
cd src/
ros2 pkg create example_cpp --build-type ament_cmake --dependencies rclcpp --license Apache-2.0
cd example_cpp/src
touch node_01.cpp
cd ../../..
colcon build --packages-select example_cpp
source install/setup.bash
ros2 run example_cpp node_03
```

# 3D旋转可视化：
```
sudo apt install ros-humble-mrpt2 -y
3d-rotation-converter 
```
# 查看TF树:
```
ros2 run tf2_tools view_frames 
```
直接看tf树： ros2 run rqt_tf_tree rqt_tf_tree（需要先安装sudo apt-get install ros-humble-rqt-tf-tree）

运行时后面加上 & 可以在后台执行

# 数据可视化工具 rviz2 

# 数据记录工具 ros2 bag
ros2 bag record /turtle1/cmd_vel
ros2 bag play rosbag2_2024_12_10-09_42_14/


# 使用URDF创建机器人

llw@llwubuntuserver:~/git/ros2-study/chapt6/src/fishbot_description/urdf$ urdf_to_graphviz first_robot.urdf 
以下两个插件可以读取urdf中的关节配置
sudo apt install ros-$ROS_DISTRO-joint-state-publisher
sudo apt install ros-$ROS_DISTRO-robot-state-publisher

Xacro(XML Macro)是基于XML的宏语言，用于简化URDF文件的创建和维护。
使用工具将xacro文件转为urdf
sudo apt install ros-$ROS_DISTRO-xacro
xacro /home/llw/git/ros2-study/chapt6/src/fishbot_description/urdf/first_robot.xacro


ros2 launch fishbot_description display_robot.launch.py model:=/home/llw/git/ros2-study/chapt6/src/fishbot_description/urdf/fishbot/fishbot.urdf.xacro


# 在Gazebo中完成机器人仿真
sudo apt install gazebo
之后输入 gazebo 打开
下载模型
mkdir -p ~/.gazebo
cd ~/.gazebo/
git clone https://gitee.com/ohhuo/gazebo_models.git ~/.gazebo/models
rm -rf ~/.gazebo/models/.git # 防止把.git误识别为模型

# 在Gazebo中加载机器人模型
sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs

ros2 launch fishbot_description gazebo_sim.launch.py 

# 使用两轮差速插件控制机器人
ros2 launch fishbot_description gazebo_sim.launch.py 
ros2 run teleop_twist_keyboard teleop_twist_keyboard

# 使用ros2_control驱动机器人
sudo apt install ros-$ROS_DISTRO-ros2-control
sudo apt info ros-$ROS_DISTRO-ros2-controllers
sudo apt install ros-$ROS_DISTRO-ros2-controllers

# 使用Gazebo接入ros2_control
sudo apt install ros-$ROS_DISTRO-gazebo-ros2-control

# 使用关节状态发布控制器
ros2 control load_controller fishbot_joint_state_broadcaster --set-state active

llw@llwubuntuserver:~/git/ros2-study/chapt6$ ros2 control list_controllers 
fishbot_joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster  active
llw@llwubuntuserver:~/git/ros2-study/chapt6$ ros2 control set_controller_state fishbot_joint_state_broadcaster inactive 
ros2 control unload_controller fishbot_joint_state_broadcaster

# 使用力控制器控制轮子
ros2 topic list -t | grep effort
ros2 topipub /fishbot_effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0001, 0.0001]}"

# 使用两轮差速控制器控制机器人
 ros2 run teleop_twist_keyboard teleop_twist_keyboard # 默认发布的是 /cmd_vel 话题

# 构建第一张导航地图
sudo apt install ros-$ROS_DISTRO-slam-toolbox
ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True # use_sim_time:=True 表示使用仿真时间
# 将地图保存为文件
sudo apt install ros-$ROS_DISTRO-nav2-map-server
ros2 run nav2_map_server map_saver_cli -f room

# Navigation2安装与使用
sudo apt install ros-$ROS_DISTRO-navigation2
sudo apt install ros-$ROS_DISTRO-nav2-bringup
sudo apt install ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox
sudo apt install ros-$ROS_DISTRO-robot-state-publisher  ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-xacro

cp /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml src/fishbot_navigation2/config/

# 安装语音合成和图像相关功能包
sudo apt install python3-pip  -y
sudo apt install espeak-ng -y
sudo pip3 install espeakng
sudo apt install ros-$ROS_DISTRO-tf-transformations
sudo pip3 install transforms3d