Sentry_SDUST简易部署流程

1、依赖

系统
- Ubuntu 22.04
- ROS Humble (desktop-full)
库
- LIVOX-SDK2
- libpcl-ros-dev
- eigen、pcl、opoencv、ceres等
- 将fastdds改为cyclonedds并附上 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp在命令行中
- 安装sudo apt install ros- $ROS_DISTRO-joint-state-publisher-gui ros-$ ROS_DISTRO-robot-state-publisher（很重要）
- BehaviorTree.CPP

2、ROS2-Humble-*

1、参考鱼香ROS手动安装动手学鱼香ROS

bash

#鱼香ROS2手动安装
#添加源
echo "deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
#添加源对应密钥
sudo apt install curl gnupg2 -y
curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -
#更新
sudo apt update    
#安装鱼香ROS2
sudo apt install ros-humble-desktop
#安装额外依赖
sudo apt install python3-argcomplete -y
#配置环境变量
source /opt/ros/humble/setup.bash
#添加系统默认环境变量
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

PS：出问题时卸载鱼香ROS

BASH

sudo apt remove ros-humble-*
sudo apt autoremove

2、安装鱼香rosdepc

bash

wget http://fishros.com/install -O fishros && . fishros

选择安装rosdepc

3、安装Nav2

bash

 sudo apt install ros-humble-nav2-*

3、ROS 2 RMW for Eclipse Cyclone DDS

1、安装

bash

sudo apt install ros-humble-rmw-cyclonedds-cpp

2、设置环境变量

bash

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

4、Livox-SDK2

1、安装CMake

bash

sudo apt install cmake

2、安装Livox-SDK2

BASH

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install

3、移除

bash

$ sudo rm -rf /usr/local/lib/liblivox_lidar_sdk_*
$ sudo rm -rf /usr/local/include/livox_lidar_*

4、补充(很重要)

1、

bash

sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-robot-state-publisher

2、

bash

sudo apt install ros-humble-asio-cmake-module

5、部署

1、安装依赖

bash

sudo apt-get install -y  libpcl-ros-dev
rosdep install --from-paths src --ignore-src -r -y

2、编译

bash

colcon build --symlink-install

3、注意修改

将ICP中PCD文件路径进行更改
将Nav2中luanch的bringup_launch.py文件引用的2Dmap名称进行更改

4、运行

bash

# 建图
./mapping.sh
# 导航
./nav.sh
#保存建图以及PCD文件
1.保存2D地图ros2 run nav2_map_server map_saver_cli -t map -f <mapname>
2.保存PCD文件ros2 service call /map_save std_srvs/srv/Trigger

Sentry_SDUST简易部署流程 ​

1、依赖 ​

2、ROS2-Humble-* ​

3、ROS 2 RMW for Eclipse Cyclone DDS ​

4、Livox-SDK2 ​

4、补充(很重要) ​

5、部署 ​

Sentry_SDUST简易部署流程

1、依赖

2、ROS2-Humble-*

3、ROS 2 RMW for Eclipse Cyclone DDS

4、Livox-SDK2

4、补充(很重要)

5、部署