ASR-A501 Build for ROS2 - Revision history

Bo.xiao at 09:10, 24 November 2025

2025-11-24T09:10:19Z

Bo.xiao at 09:07, 24 November 2025

2025-11-24T09:07:15Z

Xingxing.li at 01:25, 10 November 2025

2025-11-10T01:25:44Z

Xingxing.li at 01:23, 10 November 2025

2025-11-10T01:23:56Z

Xingxing.li at 01:21, 10 November 2025

2025-11-10T01:21:35Z

Xingxing.li at 01:19, 10 November 2025

2025-11-10T01:19:45Z

Xingxing.li: Created page with " = Preface = ROS2 provides support for multiple versions, and here we offer the ROS2 Jazzy installation package for use on Debian systems. = Install = [https://pan.baidu.co..."

2025-11-10T01:17:09Z

Created page with " = Preface = ROS2 provides support for multiple versions, and here we offer the ROS2 Jazzy installation package for use on Debian systems. = Install = [https://pan.baidu.co..."

New page

= Preface =

ROS2 provides support for multiple versions, and here we offer the ROS2 Jazzy installation package for use on Debian systems.

= Install =

[https://pan.baidu.com/s/1ibYDaZAlecitiuJ-vDz5lA 百度网盘](Password: a887)

[https://www.dropbox.com/scl/fo/s9kje84m0e7ygx6fna8r8/AEjmEYgB29w54wwS_atU8gI?rlkey=niwktov8rlobqk7k21owee3sz&st=nfu5letr&dl=0 Dropbox]

Download the above link and copy it to the board for decompression and use.
<pre>$ tar -xzvf install.tar.gz ./
</pre>

<span style="color:#ff3300;">Before executing instructions in each window, it is necessary to source the environment repository first.</span>
<pre>$ source install/local_setup.bash
</pre>

= rqt_graph =

== Introduction ==

rqt_graph provides a GUI plugin for visualizing the ROS computation graph.

== Run rqt graph ==
<pre>$ ros2 run rqt_graph rqt_graph
</pre>

[[File:ROS2 Suite SW rqt graph.png|left|ROS2 rqt graph]]

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= rqt_console =

== Introduction ==

rqt_console is a viewer in the rqt package that displays messages being published to rosout. It collects messages over time, and lets you view them in more detail, as well as allowing you to filter messages by various means.

== Run rqt console ==
<pre>$ ros2 run rqt_console rqt_console
</pre>

[[File:ROS2 Suite SW rqt console.png|left|ROS2 rqt console]]  

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= RViz =

== Introduction ==

RViz is a 3D visualization tool for ROS.

== How To ==

Startup
<pre>$ ros2 run rviz2 rviz2
</pre>

[[File:ROS2 rviz.png|800x480px|ROS2 RViz]] 

= Node Sample =

== c++ sample ==

Run example for subscribe, you can open a terminal to executing command:
<pre>$ ros2 run demo_nodes_cpp listener
</pre>

Open a new terminal to executing command to publish:
<pre>$ ros2 run demo_nodes_cpp talker
</pre>

[[File:Ros2 suite node sample cpp.png|800x480px|Ros2 suite node sample cpp.png]]

== turtlesim ==

Open a terminal to start turtlesim by executing command:
<pre>$ ros2 run turtlesim turtlesim_node
</pre>

The simulator window should appear, with a random turtle in the center.

[[File:Ros2 suite turtlesim node.png|RTENOTITLE]]

Open a new terminal, run a new node to control the turtle in the first node by executing command:
<pre>$ ros2 run turtlesim turtle_teleop_key
</pre>

Use the arrow keys on your keyboard to control the turtle. It will move around the screen, using its attached “pen” to draw the path it followed so far.

[[File:Ros2 suite turtlesim teleop key.png|RTENOTITLE]]

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 <p>ROS2 provides support for multiple versions, and here we offer the ROS2 Jazzy installation package for use on Debian systems.</p>
-<p>Due to the need for an X11 interface, please enable the port on the desktop to use the following command.</p>
+<p>Due to the need for an X11 interface, please enable the port on the desktop and use sudo privileges for the following command.</p>
 = Install =

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 [[File:ROS2 Suite SW rqt graph.png|left|ROS2 rqt graph]]
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 = rqt_console =
@@ Line 67: / Line 79: @@
 <pre>$ ros2 run rqt_console rqt_console
 </pre>
+<div>[[File:ROS2 Suite SW rqt console.png|left|ROS2 rqt console]] &nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div> <div>&nbsp;</div>
 = RViz =

@@ Line 102: / Line 102: @@
 = Node Sample =
-== c++ sample ==
+=== '''c++ sample''' ===
 Run example for subscribe, you can open a terminal to executing command:
@@ Line 114: / Line 114: @@
 [[File:Ros2 suite node sample cpp.png|800x480px|Ros2 suite node sample cpp.png]]
-== turtlesim ==
+=== '''turtlesim''' ===
 Open a terminal to start turtlesim by executing command:

@@ Line 20: / Line 20: @@
 = rqt_graph =
-== Introduction ==
+=== '''Introduction''' ===
 rqt_graph provides a GUI plugin for visualizing the ROS computation graph.
-== Run rqt graph ==
+=== '''Run rqt graph''' ===
 <pre>$ ros2 run rqt_graph rqt_graph
 </pre>
@@ Line 79: / Line 80: @@
 = rqt_console =
-== Introduction ==
+=== '''Introduction''' ===
 rqt_console is a viewer in the rqt package that displays messages being published to rosout. It collects messages over time, and lets you view them in more detail, as well as allowing you to filter messages by various means.
-== Run rqt console ==
+=== '''Run rqt console''' ===
 <pre>$ ros2 run rqt_console rqt_console
 </pre>
@@ Line 89: / Line 90: @@
 = RViz =
-== Introduction ==
+=== '''Introduction''' ===
 RViz is a 3D visualization tool for ROS.
-== How To ==
+'''How To&nbsp;Startup'''
 <pre>$ ros2 run rviz2 rviz2
 </pre>