ASR-A501 Build for ROS2
Contents
Preface
ROS2 provides support for multiple versions, and here we offer the ROS2 Jazzy installation package for use on Debian systems.
Due to the need for an X11 interface, please enable the port on the desktop and use sudo privileges for the following command.
Install
百度网盘(Password: a887)
Download the above link and copy it to the board for decompression and use.
$ tar -xzvf install.tar.gz ./
Before executing instructions in each window, it is necessary to source the environment repository first.
$ source install/local_setup.bash
rqt_graph
Introduction
rqt_graph provides a GUI plugin for visualizing the ROS computation graph.
Run rqt graph
$ ros2 run rqt_graph rqt_graph
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
$ ros2 run rqt_console rqt_console
RViz
Introduction
RViz is a 3D visualization tool for ROS.
How To Startup
$ ros2 run rviz2 rviz2
Node Sample
c++ sample
Run example for subscribe, you can open a terminal to executing command:
$ ros2 run demo_nodes_cpp listener
Open a new terminal to executing command to publish:
$ ros2 run demo_nodes_cpp talker
turtlesim
Open a terminal to start turtlesim by executing command:
$ ros2 run turtlesim turtlesim_node
The simulator window should appear, with a random turtle in the center.
Open a new terminal, run a new node to control the turtle in the first node by executing command:
$ ros2 run turtlesim turtle_teleop_key
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.
Editor