机器人 ros1 noetic debian
ROS (Robot Operating System) 是一个开源操作系统，专为开发机器人软件提供框架和支持。在本话题中，我们将聚焦于ROS1的Noetic版本在Debian系统上的源码编译过程。ROS1 Noetic是ROS的一个重要分支，它基于Python 3，并提供了广泛的库和工具，以支持机器人系统的开发、模拟和控制。
**一、安装前准备**
在开始源码编译之前，确保你的Debian系统是最新的。执行以下命令更新系统：
```bash
sudo apt update
sudo apt upgrade
```
你也需要安装一些基础的开发工具和依赖项，包括Git、CMake、GCC和Git：
```bash
sudo apt install build-essential cmake git
```
**二、安装ROS1 Noetic的依赖**
ROS1 Noetic需要一系列特定的库和软件包作为依赖。添加ROS的apt源到你的系统：
```bash
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
```
然后，添加密钥以验证下载的包：
```bash
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
```
现在，你可以安装ROS1 Noetic的基础依赖了：
```bash
sudo apt update
sudo apt install ros-noetic-ros-base
```
**三、源码编译ROS1 Noetic**
1. 创建一个工作空间来存放你的ROS项目，例如`~/ros_noetic_workspace`：
```bash
mkdir -p ~/ros_noetic_workspace/src
cd ~/ros_noetic_workspace
```
2. 在工作空间的`src`目录下，克隆ROS1 Noetic的源码：
```bash
cd src
git clone https://github.com/ros/ros.git
```
3. 返回工作空间根目录并初始化catkin（ROS的构建系统）：
```bash
cd ..
source /opt/ros/noetic/setup.bash
catkin_init_workspace
```
4. 现在，你需要编译源码。确保工作空间的所有依赖都被解决：
```bash
cd ~/ros_noetic_workspace
catkin_make_isolated --install --use-indigo-defaults
```
5. 设置环境变量以使新编译的ROS1 Noetic生效：
```bash
source ~/ros_noetic_workspace/devel_isolated/setup.bash
```
**四、测试ROS1 Noetic**
为了验证ROS1 Noetic是否成功安装，你可以运行一些基本的测试。例如，启动一个ROS节点并发布一条消息：
```bash
roscore &
rosrun turtlesim turtlesim_node
```
然后，启动另一个终端窗口，运行接收消息的节点：
```bash
rosrun turtlesim turtle_teleop_key
```
现在，你应该能在TurtleSim模拟器中看到一只海龟随着键盘输入移动。
**五、自定义包的编译与安装**
如果你有自己的ROS包想编译，只需要将源代码放在`src`目录下，然后再次运行`catkin_make_isolated --install`。这会将你的包与ROS1 Noetic一起编译并安装。
ROS1 Noetic在Debian上的源码编译是一个涉及多个步骤的过程，需要安装依赖、克隆源码、编译和设置环境变量。通过这种方式，开发者可以灵活地控制ROS的版本，以及添加和修改自己的软件包。在实际开发中，理解并掌握这个流程对于进行ROS1 Noetic的深入开发至关重要。
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本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二条之规定，若资源存在侵权或相关问题请联系本站客服人员，zhiweidada#qq.com，请把#换成@，本站将给予最大的支持与配合，做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明