ROS2初学者教程（Dashing和Eloquent）Windows

ROS2初学者教程（Dashing和Eloquent）Windows

初学者（入门级）教程是分步说明ROS2使用的资料汇总，目标向初学者介绍ROS 2。建议按顺序学习这些教程，从“普通用户”课程过渡到“开发人员”课程，获取ROS 2的基本知识。

如果正在寻找特定的教程内容，欢迎从教程中挑选对应课程，需要了解这些教程是相互关联的或独立的，但是并不意味着这是全面的文档。这些教程正在逐步完善中，因此欢迎​​反馈​​。

注意：当前，初学者级教程针对​Dashing​和​Eloquent​。某些功能可能不适用于较早的发行版。学习此部分教程，并不需要ROS1基础，也不推荐学习ROS1相关内容，直接在ROS2环境下开发机器人功能包。

rviz2示例

ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" ros2 service call /spawn turtlesim/srv/Spawn "{x: 6, y: 1, theta: 1.2, name: 't6'}"ros2 param set /turtlesim background_r 255ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute {"theta: 1.57"}---ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py rviz2

安装

​​​Dashing​​​​​​Eloquent​​​

普通用户

​​​配置ROS 2环境​​​​​​介绍turtlesim和rqt​​​​​​了解ROS 2节点​​nodes​​​​了解ROS 2主题​​topics​​​​了解ROS 2服务​​services​​​​了解ROS 2参数​​parameters​​​​了解ROS 2行动​​actions​​​​使用rqt_console​​​​​​创建启动文件​​launch​​​​记录和播放数据​​ros2bag​

开发人员

​​​创建工作区​​ws​​​​创建一个ROS 2包​​​​​​编写简单的发布者和订阅者（C ++）​​​​​​编写简单的发布者和订阅者（Python）​​​​​​编写简单的服务端和客户端（C ++）​​​​​​编写简单的服务端和客户端（Python）​​​​​​ros2doctor入门​​​

部分调试记录：

ros2 run turtlesim turtlesim_node

This application failed to start because it could not find or load the Qt platform plugin "windows"

使用windeployqt，配置一下该节点，通用格式如下：

windeployqt /install/Lib//.exe

C:\ros_ws\ros_tutorials\install\turtlesim\lib\turtlesim\turtlesim_node.exe 64 bit, release executable Adding Qt5Svg for qsvgicon.dll Direct dependencies: Qt5Core Qt5Gui Qt5Widgets All dependencies : Qt5Core Qt5Gui Qt5Widgets To be deployed : Qt5Core Qt5Gui Qt5Svg Qt5Widgets Updating Qt5Core.dll. Updating Qt5Gui.dll. Updating Qt5Svg.dll. Updating Qt5Widgets.dll. Updating libGLESV2.dll. Updating libEGL.dll. Updating d3dcompiler_47.dll. Updating opengl32sw.dll. Updating vc_redist.x64.exe. Patching Qt5Core.dll... Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/iconengines. Updating qsvgicon.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/imageformats. Updating qgif.dll. Updating qicns.dll. Updating qico.dll. Updating qjpeg.dll. Updating qsvg.dll. Updating qtga.dll. Updating qtiff.dll. Updating qwbmp.dll. Updating qwebp.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/platforms. Updating qwindows.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/styles. Updating qwindowsvistastyle.dll. Creating C:\ros_ws\ros_tutorials\install\turtlesim\lib\turtlesim\translations... Creating qt_ar.qm... Creating qt_bg.qm... Creating qt_ca.qm... Creating qt_cs.qm... Creating qt_da.qm... Creating qt_de.qm... Creating qt_en.qm... Creating qt_es.qm... Creating qt_fi.qm... Creating qt_fr.qm... Creating qt_gd.qm... Creating qt_he.qm... Creating qt_hu.qm... Creating qt_it.qm... Creating qt_ja.qm... Creating qt_ko.qm... Creating qt_lv.qm... Creating qt_pl.qm... Creating qt_ru.qm... Creating qt_sk.qm... Creating qt_uk.qm...

RQt依赖：

python -m pip install -U pydot PyQt5

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