Yuav Ua Li Cas Nruab ROS: 6 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:24

Hauv qhov kev qhia no koj yuav kawm paub yuav teeb tsa ROS li cas.

Neeg Hlau Ua Haujlwm (ROS) yog qhov qhib neeg hlau nruab nrab nruab nrab thiab koj yuav siv nws los tswj koj li Arduino. Yog koj xav paub ntau ntxiv mus ntsib:

Khoom siv

1. Linux raws OS - Ubuntu 16.04 (Xenial) teeb tsa ua lub hauv paus tseem ceeb lossis ntawm VirtualBox
2. VirtualBox (txhua version)
3. ROS Kinetic Kame
4. Arduino IDE Cov

Kauj ruam 1: Nruab VirtualBox

1. Mus rau www.virtualbox.org thiab rub tawm qhov tshiab tshaj plaws ntawm VirtualBox rau OS koj tab tom siv

2. Nruab VirtualBox

3. Rub Ubuntu 16.04 (Xenial) raws li ISO cov ntaub ntawv -

Pom zoo PC Yuav Tsum Tau:

• 2GHz dual core processor lossis zoo dua
• 2GB system nco
• 25GB ntawm qhov chaw hard drive dawb

4. Khiav VirtualBox thiab tsim VM tshiab (Virtual Machine)

5. Npe Tus Qhua OS - Ubuntu (version)> nyem Tom ntej [Duab 1]

6. Txheeb cais RAM rau Qhua OS - nyiam dua ib nrab ntawm RAM koj muaj hauv koj lub PC (piv txwv li rau 16GB ntawm RAM koj yuav teeb 8, 192 MB)> nyem Tom ntej [Duab 2]

7. Tsim Virtual Hard Disk [Duab 3]

8. Xaiv VDI> nyem Next [Duab 4]

9. Kho lub VD (Virtual Disk)> Xaiv qhov ruaj khov me me> nyem Tom ntej [Duab 5]

10. Raws li tau hais nws tau pom zoo tsawg kawg 25GB ntawm qhov chaw pub dawb (Kuv pom zoo tsawg kawg 30GB tsuas yog kom ntseeg tau tias koj yuav muaj chaw txaus rau txhua qhov haujlwm uas koj yuav siv)> nyem Tom ntej [Duab 6]

11. Tsim Virtual Machine

Kauj ruam 2: Kho lub VirtualMachine

1. Mus rau Chaw [Duab 1]

2. Nkag mus rau Kev Xaiv Cia ntawm sab laug

3. Xaiv Tus Tswj: IDE thiab ntxig rub tawm Ubuntu duab (ISO)> nyem OK [Duab 2]

4. Kho qhov teeb tsa video> mus rau Kev Xaiv Zaub nyob rau sab laug

5. Teeb Video Nco hauv qhov screen tab ntawm qhov siab tshaj> nyem OK [Duab 3]

6. Kho qhov System teeb tsa> mus rau qhov System xaiv ntawm sab laug

7. Teeb Tus Txheej Txheem (s) hauv Tus Txheej Txheem tab rau ib nrab ntawm cov uas twb muaj lawm> nyem OK [Duab 4]

YOOJ YIM: teeb tsa Cov Ntawv Sib Koom> mus rau Kev Sib Koom Cov Ntawv Xaiv nyob rau sab laug> nyem Ntxiv Folder nyob rau sab xis ntawm lub qhov rais> xaiv Folder koj xav siv> nyem OK [Duab 5]

8. Tam sim no koj tau npaj los pib koj li VirtualMachine!

Kauj Ruam 3: Pib thiab Txhim Kho Ubuntu ntawm VirtualBox

1. Thaum VirtualMachine khau looj plab hlaub, koj yuav tau txais lub qhov rai uas nug koj kom sim Ubuntu lossis Nruab Ubuntu

2. Xaiv Nruab Ubuntu

3. Tom qab xaiv Nruab Ubuntu koj yuav tau txais lub qhov rai tom ntej uas nug koj kom rub tawm hloov tshiab thaum txhim kho Ubuntu lossis Txhawm rau Nruab software thib peb. Xav tias koj siv VirtualBox, koj tuaj yeem tsis quav ntsej qhov ntawd lossis xaiv thawj qhov kev xaiv> nyem txuas ntxiv

4. Xaiv hom kev teeb tsa> Thawj qhov kev xaiv, Lej disk thiab nruab Ubuntu, yog qhov zoo vim tias koj tau teeb tsa Ubuntu ntawm VirtualBox> nyem Txuas ntxiv

5. Teev thaj tsam sijhawm

6. Teem cov txheej txheem keyboard

7. Teev cov ntaub ntawv nkag mus (Koj lub npe, lub npe siv, tus lej nkag mus thiab lwm yam)

8. Ubuntu yuav tam sim no teeb tsa

9. Tom qab rov pib dua, koj yuav npaj siv nws!

ZOO TSHAJ PLAWS: Qee zaum muaj teeb meem tshwm sim nrog Ubuntu thiab VirtualBox daws teeb meem. Nov yog cov lus qhia yuav ua li cas kho qhov ntawd:

Qhib Terminal> Hom:

sudo apt-tau nruab virtualbox-qhua-dkms virtualbox-qhua-utils virtualbox-qhua-x11

Yog tias tsis kho qhov teeb meem sim qhov no:

VirtualBox tab bar> Devices> Ntxig Qhua Ntxiv CD duab… [Duab 1]

Sab hauv lub qhov rais tuav koj lub tshuab virtual koj tuaj yeem mus rau ib qho ntawm cov ntawv qhia zaub mov xaiv thiab xaiv rau nruab cov qhua ntxiv. Nws yuav teeb tsa CD hauv lub tshuab virtual uas koj yuav tuaj yeem khiav cov ntawv sau los ntawm. Thaum qhov kev teeb tsa tau ua tiav thiab Ubuntu tau rov pib dua, Ubuntu yuav tuaj yeem txheeb xyuas koj tus tswv OS 'tshuaj ntsuam kev daws teeb meem thiab hloov kho tau.

Kauj Ruam 4: Nruab ROS Kinetic Kame

Raws li tau tham, ROS tsis yog kev ua haujlwm, tab sis nws xav tau tus tswv haujlwm ua haujlwm kom ua haujlwm. Ubuntu Linux yog qhov nyiam tshaj OS rau txhim kho ROS.

1. Mus rau

2. Xaiv ROS Kinetic Kame

3. Xaiv koj lub Platform (Ubuntu)

4. Koj yuav raug xa mus rau

5. Txhua yam koj yuav tsum tau ua yog qhib Terminal thiab ua raws cov theem teeb tsa ntawm lub xaib

Lossis koj tuaj yeem ua raws cov lus qhia ntawm no:

1. Qhib Terminal

2. Teeb koj lub khoos phis tawj kom lees txais software los ntawm packages.ros.org:

sudo sh -c 'echo "deb https://packages.ros.org/ros/ubuntu $ (lsb_release -sc) main"> /etc/apt/sources.list.d/ros-latest.list'

3. Teeb koj cov yuam sij:

sudo apt-key adv --keyserver 'hkp: //keyserver.ubuntu.com: 80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4. Nco ntsoov tias koj li Debian pob ntawv ntsuas tau hloov kho tshiab:

sudo apt-tau hloov tshiab

5. Desktop-Full Install:

sudo apt-tau nruab ros-kinetic-desktop-full

6. Kev teeb tsa ib puag ncig:

ncha "qhov chaw /opt/ros/kinetic/setup.bash" >> ~/.bashrc qhov chaw ~/.bashrc

7. Txhawm rau nruab cov cuab yeej thiab lwm yam kev vam khom rau kev tsim cov pob ROS, khiav:

sudo apt nruab python-rosdep nab hab sej-rosinstall python-rosinstall-generator python-wstool build-essential

8. Ua ntej koj tuaj yeem siv ntau yam cuab yeej ROS, koj yuav tsum tau pib ua ntej rosdep:

sudo apt nruab python-rosdep

sudo rosdep pib

rosdep hloov tshiab

Kauj ruam 5: Nruab Arduino IDE

1. Rub tawm Arduino software tshiab kawg ntawm koj Ubuntu>

2. Kuv xav kom rub tawm Linux 32bits vim tias 64bits qee zaum tuaj yeem ua teeb meem txhim kho ntawm VirtualBox Ubuntu

3. Cov ntaub ntawv tau nrawm thiab koj yuav tsum muab nws rho tawm hauv daim nplaub tshev uas tsim nyog, nco ntsoov tias nws yuav raug tua los ntawm qhov ntawd. (Nyiam tshem nws hauv koj phau ntawv rub tawm)

4. Qhib daim ntawv arduino-1.x.x nyuam qhuav tsim los ntawm cov txheej txheem rho tawm thiab pom cov install.sh ntawv> nyem rau nws thiab xaiv Khiav hauv Terminal los ntawm cov ntawv qhia zaub mov.

5. Cov txheej txheem teeb tsa yuav sai sai thiab koj yuav tsum pom lub cim tshiab ntawm koj lub desktop

6. Yog tias koj tsis pom qhov kev xaiv los sau tsab ntawv los ntawm cov ntawv qhia zaub mov, koj yuav tsum qhib lub Terminal qhov rai thiab txav mus rau hauv daim nplaub tshev arduino-1.x.x

ls ua

cd download tau

cd arduino-1.x.x // x.x. yog koj qhov version ntawm Arduino

7. Ntaus cov lus txib

./install.sh

8. Tos kom tus txheej txheem tiav.

9. Koj yuav tsum pom lub cim tshiab ntawm koj lub desktop

Kauj Ruam 6: Xws li ROS Library

1. Koj yuav tsum xub tsim ROS chaw ua haujlwm nplaub tshev (Feem ntau, qhov no yog nyob hauv Ubuntu tsev ntawv)

mkdir -p ~/catkin_ws/src

2. Tam sim no hloov mus rau /src nplaub tshev

cd catkin_ws/src

3. Pib ua haujlwm ROS tshiab

catkin_init_workspace

4. Tom qab pib ua haujlwm catkin, koj tuaj yeem tsim thaj chaw ua haujlwm, hloov los ntawm /src nplaub tshev rau catkin_ws nplaub tshev

~/catkin_ws/src cd..

5. Tsim qhov chaw

~/catkin_ws catkin_make

6. Tam sim no koj tuaj yeem pom ob peb daim nplaub tshev ntxiv rau cov ntaub ntawv src hauv koj daim ntawv catkin_ws (src nplaub tshev yog qhov uas peb pob khoom khaws cia)

7. Ntawm Terminal, hloov mus rau lub tsev ntawv tais ceev tseg thiab xaiv.bashrc cov ntaub ntawv

cd ~ ib

gedit.bashrc

8. Ntxiv cov kab ntawv tom kawg ntawm.bashrc cov ntaub ntawv (tom qab kab kawg "qhov chaw /opt/ros/kinetic/setup.bash")

qhov chaw ~/catkin_ws/devel/setup.bash

9. Peb muab cov ntaub ntawv no hauv Terminal (luam tib kab no thiab muab nws tso rau hauv Terminal)

10. Tam sim no thaum peb siv lub davhlau ya nyob twg, peb tuaj yeem nkag mus rau pob hauv qhov chaw ua haujlwm no

11. Tom qab tsim lub hom phiaj ua tiav hauv zos, khiav cov lus txib hauv qab no txhawm rau txhim kho qhov ua tiav:

catkin_make nruab

12. Koj tuaj yeem nruab rosserial rau Arduino los ntawm kev khiav:

sudo apt-tau nruab ros-kinetic-rosserial-arduino

sudo apt-tau nruab ros-kinetic-rosserial

13. Hauv cov theem hauv qab no, yog cov npe uas Linux Arduino ib puag ncig txuag koj cov duab. Feem ntau qhov no yog cov npe hu ua sketchbook lossis Arduino hauv koj phau ntawv qhia tsev. xws li cd ~/Arduino/qiv ntawv

cd /cov tsev qiv ntawv

rm -rf ros_lib

rosrun rosserial_arduino ua_libraries.py.

14. Tom qab rov pib dua koj li IDE, koj yuav tsum pom ros_lib teev nyob hauv cov piv txwv