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【ROS2大白话】一、ROS2 humble及cartorgrapher安装
【ROS2大白话】二、turtlebot3安装
【ROS2大白话】三、给turtlebot3安装realsense深度相机
【ROS2大白话】四、ROS2非常简单的传参方式
wget http://fishros.com/install -O fishros && . fishros
(1) 选择===> 一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
(2) 选择===> 更换系统源再继续安装
(3) 选择===> humble系统
(4) 选择===> humble系统桌面版
接着等待安装即可
鱼香ros中可以安装另外版本的rosdepc
wget http://fishros.com/install -O fishros && . fishros
选择3,一键配置rosdepc。安装完成后运行rosdepc update
cartographer的安装方式有两种:apt安装和源码安装。推荐源码安装,便于查看和修改源码。
mkdir -p carto_ws/src && cd carto_ws/src
git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b ros2
git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b ros2
cd ~/carto_ws
rosdepc install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --packages-up-to cartographer_ros
source install/setup.bash
ros2 pkg list | grep cartographer
显示内容如下
cartographer_ros
cartographer_ros_msgs
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