蓝桥ROS机器人之ROS1和ROS2切换
【摘要】
首先，确保完成配置：
☞ 蓝桥ROS机器人系统更新和功能包安装记录
为了确保安装速度，请使用国内源：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_rel...
首先，确保完成配置：
为了确保安装速度，请使用国内源：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
如果功能包不全：
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
ROS1：
source /opt/ros/kinetic/setup.bash
source /opt/ros/kinetic/setup.zsh
ROS2：
source /opt/ros/ardent/setup.bash
source /opt/ros/ardent/setup.zsh
如果弄成开启终端可切换的模式使用：
-
echo "ros1 kinetic(1) or ros2 ardent(2)?"
-
read edition
-
if [ "$edition" -eq "1" ];then
-
source /opt/ros/kinetic/setup.bash
-
else
-
source /opt/ros/ardent/setup.bash
-
fi
zsh
-
echo "ros1 kinetic(1) or ros2 ardent(2)?"
-
read edition
-
if [ "$edition" -eq "1" ];then
-
source /opt/ros/kinetic/setup.zsh
-
else
-
source /opt/ros/ardent/setup.zsh
-
fi
1
-
ros1 kinetic(1) or ros2 ardent(2)?
-
1
-
shiyanlou:~/ $ roscore [12:42:50]
-
... logging to /home/shiyanlou/.ros/log/416da02c-ad02-11ec-a8a5-0242c0a82a04/roslaunch-5a0e7854a36d-27253.log
-
Checking log directory for disk usage. This may take awhile.
-
Press Ctrl-C to interrupt
-
Done checking log file disk usage. Usage is <1GB.
-
-
started roslaunch server http://5a0e7854a36d:34373/
-
ros_comm version 1.12.17
-
-
-
SUMMARY
-
========
-
-
PARAMETERS
-
* /rosdistro: kinetic
-
* /rosversion: 1.12.17
-
-
NODES
-
-
auto-starting new master
-
process[master]: started with pid [27263]
-
ROS_MASTER_URI=http://5a0e7854a36d:11311/
-
-
setting /run_id to 416da02c-ad02-11ec-a8a5-0242c0a82a04
-
process[rosout-1]: started with pid [27276]
-
started core service [/rosout]
-
2
-
ros1 kinetic(1) or ros2 ardent(2)?
-
2
-
shiyanlou:~/ $ ros2 [12:48:42]
-
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
-
ros2: error: the following arguments are required: Call `ros2 <command> -h` for more detailed usage.
-
shiyanlou:~/ $ ros2 -h [12:48:46]
-
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
-
-
ros2 is an extensible command-line tool for ROS 2.
-
-
optional arguments:
-
-h, --help show this help message and exit
-
-
Commands:
-
daemon Various daemon related sub-commands
-
msg Various msg related sub-commands
-
node Various node related sub-commands
-
pkg Various package related sub-commands
-
run Run a package specific executable
-
security Various security related sub-commands
-
service Various service related sub-commands
-
srv Various srv related sub-commands
-
topic Various topic related sub-commands
-
-
Call `ros2 <command> -h` for more detailed usage.
-
shiyanlou:~/ $ [12:48:51]
-
-
-
-
-
-
printenv | grep ROS
ROS1：
ROS2：
指令记录如下：
-
26 gedit .bashrc
-
27 gedit .zshrc
-
28 roscore
-
29 ros2
-
30 ros2 -h
-
31 printenv | grep ROS
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/123762448
【版权声明】本文为华为云社区用户转载文章，如果您发现本社区中有涉嫌抄袭的内容，欢迎发送邮件进行举报，并提供相关证据，一经查实，本社区将立刻删除涉嫌侵权内容，举报邮箱：
cloudbbs@huaweicloud.com
- 点赞
- 收藏
- 关注作者
评论（0）