155 lines
3.4 KiB
Markdown
155 lines
3.4 KiB
Markdown
# ros2_base
|
|
|
|
#### 介绍
|
|
The basic software package of ros2.
|
|
|
|
#### 软件架构
|
|
软件架构说明
|
|
|
|
https://github.com/ros2-gbp/variants-release.git
|
|
|
|
文件内容:
|
|
```
|
|
./
|
|
├── ament_cmake_ros
|
|
├── common_interfaces
|
|
├── console_bridge_vendor
|
|
├── eigen3_cmake_module
|
|
├── example_interfaces
|
|
├── geometry2
|
|
├── launch
|
|
├── launch_ros
|
|
├── libyaml_vendor
|
|
├── message_filters
|
|
├── mimick_vendor
|
|
├── orocos_kinematics_dynamics
|
|
├── performance_test_fixture
|
|
├── python_cmake_module
|
|
├── rcl
|
|
├── rclcpp
|
|
├── rcl_interfaces
|
|
├── rcl_logging
|
|
├── rclpy
|
|
├── rcpputils
|
|
├── rcutils
|
|
├── realtime_support
|
|
├── rmw
|
|
├── rmw_connext
|
|
├── rmw_cyclonedds
|
|
├── rmw_dds_common
|
|
├── rmw_fastrtps
|
|
├── rmw_implementation
|
|
├── ros1_bridge
|
|
├── ros2cli
|
|
├── ros2cli_common_extensions
|
|
├── rosbag2
|
|
├── rosidl
|
|
├── rosidl_dds
|
|
├── rosidl_defaults
|
|
├── rosidl_python
|
|
├── rosidl_runtime_py
|
|
├── rosidl_typesupport
|
|
├── rosidl_typesupport_connext
|
|
├── rosidl_typesupport_fastrtps
|
|
├── ros_testing
|
|
├── rpyutils
|
|
├── spdlog_vendor
|
|
├── sros2
|
|
├── system_tests
|
|
├── test_interface_files
|
|
├── tinyxml2_vendor
|
|
├── tinyxml_vendor
|
|
├── tlsf
|
|
├── unique_identifier_msgs
|
|
├── urdf
|
|
├── variants
|
|
└── yaml_cpp_vendor
|
|
```
|
|
|
|
#### 安装教程
|
|
|
|
1. 下载rpm包
|
|
|
|
aarch64:
|
|
|
|
```
|
|
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rosbase/ros-foxy-ros-base-0.9.2-2.oe2203.aarch64.rpm
|
|
```
|
|
|
|
x86_64:
|
|
|
|
```
|
|
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rosbase/ros-foxy-ros-base-0.9.2-2.oe2203.x86_64.rpm
|
|
```
|
|
|
|
2. 安装rpm包
|
|
|
|
aarch64:
|
|
|
|
```
|
|
sudo rpm -ivh --nodeps --force ros-foxy-ros-base-0.9.2-2.oe2203.aarch64.rpm
|
|
```
|
|
|
|
x86_64:
|
|
|
|
```
|
|
sudo rpm -ivh --nodeps --force ros-foxy-ros-base-0.9.2-2.oe2203.x86_64.rpm
|
|
```
|
|
|
|
#### 使用说明
|
|
|
|
依赖环境安装:
|
|
|
|
```
|
|
sh /opt/ros/foxy/install_dependence.sh
|
|
```
|
|
|
|
安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。
|
|
|
|
输出:
|
|
|
|
```
|
|
./
|
|
├── bin
|
|
├── cmake
|
|
├── COLCON_IGNORE
|
|
├── include
|
|
├── install_dependence.sh
|
|
├── lib
|
|
├── lib64
|
|
├── local_setup.bash
|
|
├── local_setup.ps1
|
|
├── local_setup.sh
|
|
├── _local_setup_util_ps1.py
|
|
├── _local_setup_util_sh.py
|
|
├── local_setup.zsh
|
|
├── opt
|
|
│ └── yaml_cpp_vendor
|
|
├── setup.bash
|
|
├── setup.ps1
|
|
├── setup.sh
|
|
├── setup.zsh
|
|
├── share
|
|
├── src
|
|
│ ├── gmock_vendor
|
|
│ └── gtest_vendor
|
|
└── tools
|
|
└── fastdds
|
|
```
|
|
#### 参与贡献
|
|
|
|
1. Fork 本仓库
|
|
2. 新建 Feat_xxx 分支
|
|
3. 提交代码
|
|
4. 新建 Pull Request
|
|
|
|
|
|
#### 特技
|
|
|
|
1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
|
|
2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
|
|
3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
|
|
4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
|
|
5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
|
|
6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
|