ROS 操作

系统烧录

balenaEtcher 已经烧录的 u 盘恢复

wget http://fishros.com/install -O fishros && . fishros

小鱼的一键安装系列 | 鱼香 ROS

!!! note "no directory" 切换到bash使用 可以把 . fishros 替换成 bash fishros

注意安装 desktop 版本而不是 sever 版本

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesmi turtle_teleop_key

软件安装

PlotJuggler 画图工具

sudo apt-get install ros-noetic-plotjuggler

roscore
rosrun plotjuggler plotjuggler

然后通过 File–>Load Data 导入CSV或rosbags数据，然后把对应的 topic 数据拖到右侧就可以了。 如果加载 .bag 文件的时候不支持加载 .bag 文件，那么需要安装包ros-noetic-plotjuggler-ros

sudo apt-get install ros-kinetic-plotjuggler-ros

htop 系统监控工具

sudo apt-get install htop

ROS操作

创建

roscore

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

cd ~/catkin_ws
catkin_make

如果出现时间问题

• 删除devel与build文件夹
• 先进入系统设置调整时区

执行

命令	重要度	详细说明
rosrun	★★★	运行节点
roslaunch	★★★	运行多个节点及设置运行选项
rosclean	★★☆	检查或删除 ROS 日志文件

topic

命令	详细说明
rostopic bw	测量消息发布所占用的带宽
rostopic delay	显示话题中消息的延迟
rostopic echo	查看某个话题上发布的消息
rostopic find	按类型查找话题
rostopic hz	测量消息发布的频率
rostopic info	获取更多关于话题的信息
rostopic list	获取当前活跃的话题
rostopic pub	发布数据到话题
rostopic type	打印话题类型

rostopic list

rostopic info /topic_name

rostopic echo /topic_name

rostopic type <topic_name> | rosmsg show

将<topic_name>替换为你要查看的话题名称，该命令将显示该话题消息的字段和数据类型。

查看信息

rosmsg

rosmsg  show

service

rosservice list

rosservice call [service] [args]

rosservice type [service] | rossrv show

rosparam set [parame_name] [args] + rosservice call clear

rosparam get [parame_name]

rosparam load [file_name] [namespace]

rosparam delete

bag

会在当前目录下生成一个bag.active文件，说明正在记录数据；按Ctrl+C停止记录，生成bag文件。

rosbag record -a

rosbag record -O subset <topic1> <topic2>

rosbag info <bagfile_name>

rosbag play (-r 2) <bagfile_name>

功能包

rosinstall安装 ROS 附加功能

可视化

rviz

• rviz 操作：平移，2d，视角转换，家

rqt

输入

rosrun rqt_graph rqt_graph

rosrun rqt_plot rqt_plot

可以打开一个界面观察节点与话题的关系 绿色和蓝色的是节点 红色的是话题

外设

风扇

风扇安装与控制

sudo sh -c 'echo 255 > /sys/devices/pwm-fan/target_pwm'
sudo vi /etc/rc.local
sudo chmod 755 /etc/rc.local

#!/bin/bash
sleep 10
sudo /usr/bin/jetson_clocks
sudo sh -c 'echo 255 > /sys/devices/pwm-fan/target_pwm'

摄像头

#查看摄像头
rqt_image_view

蓝牙

jetson nano 之 (6):配置蓝牙音响 – 走着的博客 (openpilot.cc)英伟达 Jetson Nano 新手必备：连接蓝牙音频jetson nano 链接音响许野平的博客-CSDN 博客

激光雷达

#gmapping slam
roslaunch clbrobot bringup.launch
roslaunch clbrobot lidar_slam.launch

#hector slam
roslaunch clbrobot bringup.launch
roslaunch clbrobot hector_slam.launch
rviz
open "slam.rviz"
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roscd clbrobot/maps/
./map.sh

#Karto SLAM
roslaunch clbrobot bringup.launch
roslaunch clbrobot karto_slam.launch
rviz
open "slam.rviz"
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

#Cartographer SLAM 算法构建地图
roslaunch clbrobot bringup.launch
roslaunch clbrobot rplidar.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch clbrobot cartographer_slam.launch
rviz
open config "cartographer.rviz"

??? note "jetson Nano 小车"

ifconfig

    #底盘
    roslaunch clbrobot bringup.launch

    #键盘操控
    rosrun teleop_twist_keyboard teleop_twist_keyboard.py
    小写 & 大写字母

    #imu校正
    roslaunch clbrobot bringup.launch
    rosrun imu_calib do_calib
    按照提示调整小车，并按照指示按下enter

    #线速度修正
    roslaunch clbrobot bringup.launch
    rosrun clbrobot_nav calibrate_linear.py
    rosrun rqt_reconfigure rqt_reconfigure
    设定1m，最后一栏记录实际值，多次实验平均
    roscd clbrobot/launch
    gedit bringup.launch

    #角速度修正
    roslaunch clbrobot bringup.launch
    rosrun clbrobot_nav calibrate_angular.py
    rosrun rqt_reconfigure rqt_reconfigure


    #雷达启动


    #相机启动
    roslaunch clbrobot camera.launch
    roslaunch clbrobot clbrobot_web.launch
    IP:8080

    #相机建图
    roslaunch clbrobot bringup.launch

    roslaunch clbrobot astra_xtion_gmapping.launch
    rviz
    打开 home/catkin_ws/src/clbrobot_project/clbrobot/rviz/slam.rviz
    rosrun teleop_twist_keyboard teleop_twist_keyboard.py
    roscd clbrobot/maps
    ./map.sh

    #相机导航
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot astra_navigate.launch
    rviz
    nav goal

    #避障
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot_follower follower.launch

    #手机
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot camera.launch
    roslaunch clbrobot lidar_slam.launch
    roscd clbrobot/maps
    ./map.sh

    #巡线
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot camera.launch
    roslaunch clbrobot_line_follower clbrobot_line.launch


    #二维码识别
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot camera.launch

    roslaunch clbrobot_ar_track clbrobot_ar_camera.launch
    roslaunch clbrobot_ar_track clbrobot_ar_large_markers.launch
    roslaunch clbrobot_ar_track clbrobot_ar_tags_cog.launch
    roslaunch clbrobot_ar_track clbrobot_ar_follower.launch

    #多点导航
    roslaunch clbrobot bringup.launch
    roslaunch clbrobot navigate.launch
    rviz
    open "navigate.rviz"

    use "2D Pose Estimate"
    use "Publish Point" to choose dots to be passed


    roslaunch clbrobot_hand_pose clbrobot_hand_pose.launch
    roslaunch clbrobot_object_detect clbrobot_face_object.launch
    ```

## 三方库

### darknet

```shell
catkin_make -DCATKIN_WHITELIST_PACKAGES="darknet_ros"

roslaunch clbrobot bringup.launch
roslaunch clbrobot camera.launch
roslaunch darknet_ros darknet_ros.launch
roscd darknet_ros/script
python ObjectLocation.py

roslaunch clbrobot astra_navigate.launch

darknet-yolov3 训练自己的数据集，并测试训练结果_dota 数据集在 yolov3 训练结果_pd 很不专业的博客-CSDN 博客

Jetson Nano 之 ROS 入门 -- YOLO 目标检测与定位_ros 目标检测_szu_ljm 的博客-CSDN 博客

语音合成

ROS 实战 ( 三 ) 利用科大讯飞 tts 实现 ROS 下语音合成播报_无驰复逸的博客-CSDN 博客