http://wiki.ros.org/Installation/Ubuntu
Installation
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
....
Initialize
$ sudo rosdep initAdd the source of Kinetic setp.bash to ~/.bashrc
$ source ~/.bashrc
Install ROS Install tools
$ printenv | grep ROS
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
~/catkin_ws/src$ cat CMakeLists.txt
~/catkin_ws$ source devel/setup.bash
$ rospack find roscpp
/opt/ros/kinetic/share/roscpp
$ roscd roscpp/cmake
parallels@parallels-vm:/opt/ros/kinetic/share/roscpp/cmake
$ rosls roscpp_tutorials
cmake launch package.xml srv
Finding ROS packages on your system
$ rospack find roscpp
/opt/ros/kinetic/share/roscpp
$ roscd roscpp/cmake
parallels@parallels-vm:/opt/ros/kinetic/share/roscpp/cmake
$ rosls roscpp_tutorials
cmake launch package.xml srv
Creating a ROS (catkin) Package
~/catkin_ws/src$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
Created file beginner_tutorials/CMakeLists.txt
Created file beginner_tutorials/package.xml
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in /home/parallels/catkin_ws/src/beginner_tutorials. Please adjust the values in package.xml.
Created file beginner_tutorials/CMakeLists.txt
Created file beginner_tutorials/package.xml
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in /home/parallels/catkin_ws/src/beginner_tutorials. Please adjust the values in package.xml.
Building catkin
~/catkin_ws/src$ cd ~/catkin_ws
parallels@parallels-vm:~/catkin_ws$ catkin_make
~/catkin_ws/src$ cd ~/catkin_ws
parallels@parallels-vm:~/catkin_ws$ catkin_make
$ . ~/catkin_ws/devel/setup.bash
$ rospack depends1 beginner_tutorials
roscpp
rospy
std_msgs
roscpp
rospy
std_msgs
$ rospack depends1 rospy
genpy
roscpp
rosgraph
rosgraph_msgs
roslib
std_msgs
genpy
roscpp
rosgraph
rosgraph_msgs
roslib
std_msgs
$ source /opt/ros/kinetic/setup.bash
~/catkin_ws$ catkin_make
~/catkin_ws$ catkin_make install
catkin_make
http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes
$ sudo apt-get install ros-kinetic-ros-tutorials
$ roscore
... logging to /home/parallels/.ros/log/4127ad4c-c430-11e8-97ed-001c42291ef9/roslaunch-parallels-vm-17556.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1gb .="" p="">
started roslaunch server http://parallels-vm:39325/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [17567]
ROS_MASTER_URI=http://parallels-vm:11311/
setting /run_id to 4127ad4c-c430-11e8-97ed-001c42291ef9
process[rosout-1]: started with pid [17583]
started core service [/rosout]
NEW TERMINAL
~/catkin_ws$ rosnode list
/rosout
in new terminal window
$ rosnode list
/rosout
/turtlesim
~/catkin_ws$ rosnode ping turtlesim
rosnode: node is [/turtlesim]
pinging /turtlesim with a timeout of 3.0s
xmlrpc reply from http://parallels-vm:38047/ time=0.795841ms
ROS Topics
http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics
$ rosrun turtlesim turtlesim_node
$ sudo apt-get install ros-kinetic-rqt
$ sudo apt-get install ros-kinetic-rqt-common-plugins
$ rosrun rqt_graph rqt_graph
$ rostopic -h
rostopic is a command-line tool for printing information about ROS Topics.
Commands:
rostopic bw display bandwidth used by topic
rostopic delay display delay of topic from timestamp in header
rostopic echo print messages to screen
rostopic find find topics by type
rostopic hz display publishing rate of topic
rostopic info print information about active topic
rostopic list list active topics
rostopic pub publish data to topic
rostopic type print topic or field type
Type rostopic
parallels@parallels-vm:~/catkin_ws$ rostopic list
/rosout
/rosout_agg
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
$ rostopic echo /turtle1/cmd_vel
linear:
x: -2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
---
$ rostopic type /turtle1/cmd_vel
geometry_msgs/Twist
$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[A
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
$ rosrun rqt_plot rqt_plot
http://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParams
$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
$ rosservice call /clear
rosservice call /spawn 2 2 0.2 ""
$ rosparam list
/background_b
/background_g
/background_r
/rosdistro
/roslaunch/uris/host_parallels_vm__40367
/rosversion
/run_id
$ rosparam get /rosdistro
'kinetic
'
$ rosparam get /rosversion
'1.12.14
$ rosparam dump ros_params_dump.yaml
background_b: 255
background_g: 86
background_r: 69
rosdistro: 'kinetic
'
roslaunch:
uris: {host_parallels_vm__40367: 'http://parallels-vm:40367/'}
rosversion: '1.12.14
'
run_id: d19c2fd2-c4d6-11e8-a520-001c42291ef9
http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch
~/catkin_ws$ catkin_make install
$ cd ~/catkin_ws/
~/catkin_ws$ ls src
beginner_tutorials CMakeLists.txt
ROS Nodes
http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes
$ sudo apt-get install ros-kinetic-ros-tutorials
Starting ROS Core Service
$ roscore
... logging to /home/parallels/.ros/log/4127ad4c-c430-11e8-97ed-001c42291ef9/roslaunch-parallels-vm-17556.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1gb .="" p="">
started roslaunch server http://parallels-vm:39325/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [17567]
ROS_MASTER_URI=http://parallels-vm:11311/
setting /run_id to 4127ad4c-c430-11e8-97ed-001c42291ef9
process[rosout-1]: started with pid [17583]
started core service [/rosout]
~/catkin_ws$ rosnode list
/rosout
Running Turtle Simulator Node
$ rosrun turtlesim turtlesim_nodein new terminal window
$ rosnode list
/rosout
/turtlesim
rosnode: node is [/turtlesim]
pinging /turtlesim with a timeout of 3.0s
xmlrpc reply from http://parallels-vm:38047/ time=0.795841ms
ROS Topics
http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics
$ rosrun turtlesim turtlesim_node
$ sudo apt-get install ros-kinetic-rqt
$ sudo apt-get install ros-kinetic-rqt-common-plugins
$ rosrun rqt_graph rqt_graph
$ rostopic -h
rostopic is a command-line tool for printing information about ROS Topics.
Commands:
rostopic bw display bandwidth used by topic
rostopic delay display delay of topic from timestamp in header
rostopic echo print messages to screen
rostopic find find topics by type
rostopic hz display publishing rate of topic
rostopic info print information about active topic
rostopic list list active topics
rostopic pub publish data to topic
rostopic type print topic or field type
Type rostopic
parallels@parallels-vm:~/catkin_ws$ rostopic list
/rosout
/rosout_agg
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
$ rostopic echo /turtle1/cmd_vel
linear:
x: -2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
---
$ rostopic list -v
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [rosgraph_msgs/Log] 3 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 2 subscribers
* /rosout [rosgraph_msgs/Log] 1 subscriber
$ rostopic type /turtle1/cmd_vel
geometry_msgs/Twist
$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[A
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
$ rosrun rqt_plot rqt_plot
http://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParams
$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
Create another turtle
rosservice call /spawn 2 2 0.2 ""
$ rosparam list
/background_b
/background_g
/background_r
/rosdistro
/roslaunch/uris/host_parallels_vm__40367
/rosversion
/run_id
'kinetic
'
$ rosparam get /rosversion
'1.12.14
$ rosparam dump ros_params_dump.yaml
background_g: 86
background_r: 69
rosdistro: 'kinetic
'
roslaunch:
uris: {host_parallels_vm__40367: 'http://parallels-vm:40367/'}
rosversion: '1.12.14
'
run_id: d19c2fd2-c4d6-11e8-a520-001c42291ef9
http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch
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