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# System prepended metadata

title: 樹莓派 and ROS

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樹莓派 and ROS
===
https://blog.csdn.net/qq_52785580/article/details/122648288
filezilla 檔案傳輸
VNC viewer



     sudo gedit ~/.bashrc
     sudo gedit /etc/hostname
     sudo gedit /etc/hosts

> 將ROS結構 使用圖形(graph)的方式顯示
rqt_graph

> rosnode kill [node_name]

     killall -9 roscore
     killall -9 rosmaster
> 
    2. 開啟一個新終端，開啟小烏龜
    rosrun turtlesim turtlesim_node
    3. 開啟一個新終端，通過鍵盤控制小烏龜，這個終端視窗必須置頂才能鍵盤控制
    rosrun turtlesim turtle_teleop_key 
> 
> rostopic bw     display bandwidth used by topic
rostopic echo   print messages to screen
rostopic hz     display publishing rate of topic    
rostopic list   print information about active topics
rostopic pub    publish data to topic
rostopic type   print topic type


在 Raspberry pi3 B 上使用ROS傳輸圖片 640x480x1 

10hz採樣：
![](https://i.imgur.com/CFQir9b.png)
圖片右上 可得知影像傳輸時間大約100ms
https://i.imgur.com/CFQir9b.png
樹莓派從cap上抓影像透過ROS傳輸給PC端
整體花費時間大約300ms

15hz採樣：
會掉封包(樹莓派沒辦法cover)
整體花費時間會超過1.5s, 且隨時間增加

然後我在PC端ping 樹莓派是30~40 ms


> https://kejyuntw.gitbooks.io/ubuntu-learning-notes/content/system/system-virtual-memory.html

> sudo netstat -ltnp
> kill -9 <pid>

raspberry pi camera v2.1
===
https://blog.csdn.net/qq_52785580/article/details/122648288
    
    rqt_image_view #选择相应的话题显示画面
    
hamachi 
===
    sudo dpkg --add-architecture armhf
    sudo apt-get install libc6:armhf
    sudo apt-get install libstdc++6:armhf
    
    
    sudo service logmein-hamachi restart
> https://blog.xuite.net/applijack/twblog/140147547-EZGO9-Hamachi+2.1.0.17+%E7%B0%A1%E6%98%93%E5%AE%89%E8%A3%9D%E6%95%99%E5%AD%B8 
https://home.gamer.com.tw/bookmarkDetail.php?sn=3301866&owner=blankuser
https://medium.com/@KyleARector/logmein-hamachi-on-raspberry-pi-ad2ba3619f3a
    
    
    
Kalibr相机校正工具安装与使用笔记
===
https://zhaoxuhui.top/blog/2020/09/09/kalibr-installation-and-use.html
    
https://blog.csdn.net/u011178262/article/details/83316968
    
