ROS2与STM32入门教程-micro_ros的linux版本

说明：

介绍如何安装使用micro_ros

步骤：

安装ros2版本foxy，查看教程

加载ros2环境

source ~/ros2_foxy/install/setup.bash

也可以把这一句加到bashrc文件，新开终端就不用再输入

安装micro-xrce-dds，查看教程

mkdir -p ~/tools/

cd ~/tools/

git clone https://github.com/eProsima/Micro-XRCE-DDS.git

cd Micro-XRCE-DDS

mkdir build && cd build

cmake ..

make

sudo make install

sudo ldconfig /usr/local/lib/

安装micro_ros_setup

mkdir -p ~/microros_ws

cd ~/microros_ws

git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# Update dependencies using rosdep

sudo apt update && rosdep update

rosdep install --from-path src --ignore-src -y

# Install pip

sudo apt-get install python3-pip

# Build micro-ROS tools and source them

colcon build

source install/local_setup.bash

创建工作空间

cd ~/microros_ws

ros2 run micro_ros_setup create_firmware_ws.sh host

这一步下载micro-ROS apps

位于src/uros/micro-ROS-demos/rcl下

编译工作空间

ros2 run micro_ros_setup build_firmware.sh

source install/local_setup.bash

创建代理端工作空间

cd ~/microros_ws

ros2 run micro_ros_setup create_agent_ws.sh

编译工作空间

ros2 run micro_ros_setup build_agent.sh

source install/local_setup.bash

新终端运行代理

ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

新终端运行例子

cd ~/microros_ws

source install/local_setup.bash

# Run a micro-ROS node

ros2 run micro_ros_demos_rclc ping_pong

新终端输入话题列表

$ ros2 topic list

/microROS/ping

/microROS/pong

/parameter_events

/rosout

输入话题内容

$ ros2 topic echo /microROS/ping

stamp:

sec: 7636

nanosec: 507000000

frame_id: '2132843206_1085377743'

---

stamp:

sec: 7638

nanosec: 509000000

frame_id: '111120688_1085377743'

---

stamp:

sec: 7640

nanosec: 508000000

frame_id: '1461198358_1085377743'