机器人编程趣味实践18-他山之石(功能包)

机器人操作系统功能包可以使用如下两种方式使用：

1. sudo apt install xxx
2. colcon build xxx

第一种是打包的安装文件，第二种是源代码编译。

如何自己编写功能包后续细说，本节介绍如何使用github下载的功能包源码编译使用。

先上一个思考题：

模型之简

模型之细

代码也是类似，有极简风，也有全家福。

现在很多APP界面很精美，但其内核其实并不复杂，大量的工作放在了如何吸引用户的眼球上。

github下载速度？

• git clone https://github.com/ros-planning/moveit2_tutorials.git

• git clone https://github.com.cnpmjs.org/ros-planning/moveit2_tutorials.git

编译工具

colcon

  

   

    

     

    
    

     

      zhangrelay@ros2fun:~$ colcon -h
     
    
   

    

     

    
    

     

      usage: colcon [-h] [--log-base LOG_BASE] [--log-level LOG_LEVEL]
     
    
   

    

     

    
    

     

       {build,extension-points,extensions,graph,info,list,metadata,test,test-result,version-check} ...
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      optional arguments:
     
    
   

    

     

    
    

     

        -h, --help show this help message and exit
     
    
   

    

     

    
    

     

        --log-base LOG_BASE   The base path for all log directories (default: ./log, to disable: /dev/null)
     
    
   

    

     

    
    

     

        --log-level LOG_LEVEL
     
    
   

    

     

    
    

     

       Set log level for the console output, either by numeric or string value (default: warning)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      colcon verbs:
     
    
   

    

     

    
    

     

        build Build a set of packages
     
    
   

    

     

    
    

     

        extension-points List extension points
     
    
   

    

     

    
    

     

        extensions List extensions
     
    
   

    

     

    
    

     

        graph Generate a visual representation of the dependency graph
     
    
   

    

     

    
    

     

        info Package information
     
    
   

    

     

    
    

     

        list List packages, optionally in topological ordering
     
    
   

    

     

    
    

     

        metadata Manage metadata of packages
     
    
   

    

     

    
    

     
  test Test a set of packages
     
    
   

    

     

    
    

     
  test-result Show the test results generated when testing a set of
     
    
   

    

     

    
    

     

       packages
     
    
   

    

     

    
    

     

        version-check Compare local package versions with PyPI
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

        {build,extension-points,extensions,graph,info,list,metadata,test,test-result,version-check}
     
    
   

    

     

    
    

     

       call `colcon VERB -h` for specific help
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      Environment variables:
     
    
   

    

     

    
    

     

        CMAKE_COMMAND The full path to the CMake executable
     
    
   

    

     

    
    

     

        COLCON_ALL_SHELLS Flag to enable all shell extensions
     
    
   

    

     

    
    

     

        COLCON_COMPLETION_LOGFILE
     
    
   

    

     

    
    

     

       Set the logfile for completion time
     
    
   

    

     

    
    

     

        COLCON_DEFAULTS_FILE  Set path to the yaml file containing the default values
     
    
   

    

     

    
    

     
 for the command line arguments (default:
     
    
   

    

     

    
    

     
 $COLCON_HOME/defaults.yaml)
     
    
   

    

     

    
    

     

        COLCON_DEFAULT_EXECUTOR
     
    
   

    

     

    
    

     

       Select the default executor extension
     
    
   

    

     

    
    

     

        COLCON_EXTENSION_BLOCKLIST
     
    
   

    

     

    
    

     

       Block extensions which should not be used
     
    
   

    

     

    
    

     

        COLCON_HOME Set the configuration directory (default: ~/.colcon)
     
    
   

    

     

    
    

     

        COLCON_LOG_LEVEL Set the log level (debug|10, info|20, warn|30,
     
    
   

    

     

    
    

     

       error|40, critical|50, or any other positive numeric
     
    
   

    

     

    
    

     

       value)
     
    
   

    

     

    
    

     

        COLCON_WARNINGS Set the warnings filter similar to PYTHONWARNINGS
     
    
   

    

     

    
    

     

       except that the module entry is implicitly set to
     
    
   

    

     

    
    

     
 'colcon.*'
     
    
   

    

     

    
    

     

        CTEST_COMMAND The full path to the CTest executable
     
    
   

    

     

    
    

     

        POWERSHELL_COMMAND The full path to the PowerShell executable
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      For more help and usage tips, see https://colcon.readthedocs.io
     
    
  
 

colcon build

完成后显示：

如果要使用自编译功能包中的程序，需要：

 . install/local_setup.bash

运行

ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

好不好用呢？

非常稀烂！

特别容易挂

为何呢？是算法不行，还是参数不合适？换个地图试一试？

调参也是一门学问呢^_^

-End-

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/117951002