ROS2 Humble Package 安裝：機電系統、建圖、導航

## ROS2 humble #### install ros2 humble 建議使用 Debian 方式安裝[^註腳]，請參考[官方安裝指南]( https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html)進行 ``` echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc echo "export ROS_DISTRO=humble" >> ~/.bashrc ``` #### rosdep 安裝與更新 ``` sudo apt install python3-rosdep2 rosdep update ``` ## 機電系統 Packages #### urg_node2 ``` git clone https://github.com/Hokuyo-aut/urg_node2.git cd urg_node2 rm -r urg_library/ git clone https://github.com/UrgNetwork/urg_library.git cd ~/ros2_ws rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### velodyne ``` cd ~/ros2_ws/src git clone https://github.com/ros-drivers/velodyne.git -b humble-devel cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### ira_laser_tools 將兩個光達的 Laser Scan 資訊合併為一個 ``` cd ~/ros2_ws/src git clone https://github.com/nakai-omer/ira_laser_tools.git -b humble cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### rf2o_laser_odometry 使用連續兩幀 LiDAR 資訊生成 `/odom` 資訊 ``` cd ~/ros2_ws/src git clone https://github.com/Adlink-ROS/rf2o_laser_odometry.git -b humble-devel cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### laser_filter ``` cd ~/ros2_ws/src git clone https://github.com/ros-perception/laser_filters.git -b ros2 cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### robot_localization 發布 `/odom` 位移資料 ``` cd ~/ros2_ws/src git clone https://github.com/cra-ros-pkg/robot_localization.git -b humble-devel cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` #### IMU Ch110 [由原廠資料下載 package](https://sealandtech.com.tw/resource.html?s=anrot&type=tutorial&p=ros2/readme) #### micro_ros_agent ``` cd ~/ros2_ws/src git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b humble git clone https://github.com/micro-ROS/micro_ros_msgs.git -b humble cd .. rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` ## 建圖 Packages #### cartographer - cartographer：核心演算法 - cartographer_ros：將 cartographer 整合至 ROS ``` mkdir -p ~/carto_ws/src cd ~/carto_ws/src git clone https://github.com/ros2/cartographer.git -b ros2 git clone https://github.com/ros2/cartographer_ros.git -b ros2 cd ~/carto_ws rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` ## 導航 Packages #### navigation2 ``` mkdir -p ~/nav2_ws/src cd ~/nav2_ws/src git clone https://github.com/ros-navigation/navigation2.git -b humble cd ~/nav2_ws rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble colcon build --symlink-install ``` - 若記憶體不足，可能在 costmap queue 到 54% 時出現錯誤。 - 解決方案：等待一分鐘讓系統自動關閉終端機，再重新打開終端機編譯。 - 重新編譯時，可能會在 nav2_waypoint_follower 出現錯誤，這通常是因為中途失敗導致的 - 解決方案：刪除 build、install、log 資料夾再重新編譯，船到橋頭自然直XD - 若編譯失敗時添加以下依賴： ``` sudo apt install ros-humble-bondcpp sudo apt install ros-humble-test-msgs sudo apt install ros-humble-behaviortree-cpp-v3 sudo apt install ros-humble-diagnostic-updater sudo apt install ros-humble-tf2-sensor-msgs sudo apt install ros-humble-ompl sudo apt install ros-humble-nav2-map-server sudo apt install ros-humble-gazebo-* sudo apt install ros-humble-joint-state-publisher ``` - 若遇到錯誤 `nav2_msgs/nav2_msgs`： ``` rm -rf /home/scl/nav2_ws/build/nav2_msgs/ament_cmake_python/nav2_msgs/nav2_msgs ``` - 下面待確認 ``` sudo apt install libboost-all-dev ``` ## 建圖、導航 launch 參照 #### Turtlebot3 Cartographer & Navigation2 ``` cd git clone https://github.com/ROBOTIS-GIT/turtlebot3.git -b humble-devel cd turtlebot3/ mv turtlebot3_cartographer/ ~/carto_ws/src/ mv turtlebot3_navigation2/ ~/nav2_ws/src/ cd .. rm -r turtlebot3/ ``` ## 小型 Packages #### rqt-tf-tree ``` sudo apt-get install ros-humble-rqt-tf-tree ``` #### ESP32 連接 ``` pip install pyserial ``` #### 鍵盤控制 ``` sudo apt-get install ros-humble-teleop-twist-keyboard ``` #### Plot 工具 ``` sudo apt install ros-humble-plotjuggler-ros ``` ## 延伸閱讀 - [ROS2 hokuyo、velodyne 設定](https://hackmd.io/@ming0071/B1SqyC_eJe) - [ROS2 micro-ros 安裝與設定](https://hackmd.io/@ming0071/rklD1yKl1x) [^註腳]:我有用二進位試過了，launch 會開不起來