在miniPC上部署ROS2 foxy

1. rufus 烧写 ubuntu 2004 iso 的 usb 启动盘.
2. 安装 ubuntu 2004 iso 桌面版.
3. 设置更新源为 tsinghua
4. 系统设置

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sudo vi /etc/sudoers; 改为 %sudo ALL=(ALL:ALL) NOPASSWD:ALL ## 这一步你要确认是否真的要做.
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settings -> power [Blank Screen -> Never][Wifi save Power -> Off]
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sudo apt remove libreoffice-common libreoffice-core libreoffice-style-breeze libreoffice-style-colibre libreoffice-style-elementary libreoffice-style-tango thunderbird thunderbird-gnome-support thunderbird-locale-en thunderbird-locale-en-us totem totem-common totem-plugins rhythmbox rhythmbox-data rhythmbox-plugin-alternative-toolbar rhythmbox-plugins simple-scan gnome-mahjongg aisleriot gnome-mines cheese transmission-common transmission-gtk gnome-sudoku deja-dup gnome-calendar shotwell shotwell-common evince evince-common gnome-todo usb-creator-common usb-creator-gtk gnome-screenshot eog yelp yelp-xsl gnome-font-viewer gnome-calculator ibus-data ibus-gtk ibus-gtk ibus-gtk3 ibus-table --purge;
sudo apt autoremove --purge
安装必要的开发环境
sudo apt install openssh-server samba vim git axel terminator xrdp htop bash-completion tree
sudo mkdir /work; sudo chown iibull:iibull /work; ln -s /work ~/work
sudo vi /etc/samba/smb.conf
sudo smbpasswd -a iibull
sudo service smbd restart
换种占用资源较少的桌面
sudo apt-get install gnome-session-flashback 重新登陆, 使用新的 gnome classic. 省 100MB RAM
部署远程桌面和虚拟桌面
VNC桌面
settings->sharing->screen sharing -> [ON,allow connections,access require passwd]
sudo apt install xrdp xbase-clients dconf-editor
sudo dconf-editororg 设置 org -> gnome -> desktop -> remote-access 取消勾选requlre-encryption
命令行执行 gsettings set org.gnome.Vino require-encryption false ; gsettings set org.gnome.Vino use-upnp true
通过VNC viewer 或者 windows 远程桌面[vnc-any, ip, 5900, 密码] 可登陆.
虚拟桌面 - 无显示器登陆.
sudo apt install x11vnc xvfb
编辑虚拟桌面脚本 /usr/local/bin/fakevncscreen ### 然后 vnc viewer 通过 IP:9595 登陆.

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#smb.conf 内容
[ROS]
comment = foxy
path = /work
create mask = 0700
valid users = iibull
write list = root, iibull

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$ cat fakevncscreen
#!/bin/bash
while [ 1 ]; do
xvfb_cnt=`pidof Xvfb`
if [[ $xvfb_cnt -eq 0 ]]; then
Xvfb :95 -screen 0 1280x1024x16 &
sleep 2
fi
x11_cnt=`pidof x11vnc`
if [[ $x11_cnt -eq 0 ]]; then
x11vnc -ncache 10 -listen 0.0.0.0 -rfbport 9595 -noipv6 -passwd wanglong -display :95 & #每次vncview退出后, 此程序也会退出.
else
sleep 3
fi
done

5. 安装 foxy, 今天 2020.06.23 ROS2放出了 Rolling Ridley 版本, 目前看是还是先用foxy, TMD学习成本太高了.
参照 https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/

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最好有个VPN网络.
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

//参考 https://mirrors-i.tuna.tsinghua.edu.cn/help/ros2/ 使用清华的ROS2 源

sudo apt update && sudo apt install curl gnupg2 lsb-release
# 下面这条语句，我的输出错误： gpg: no valid OpenPGP data found
# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# 解决上面的问题，可以换成下面这条语句：
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install ros-foxy-desktop
sudo apt install python3-argcomplete
验证
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

5. 部署开发环境

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sudo apt update
sudo apt install -y python3-rosdep libpython3-dev python3-argcomplete python3-colcon-common-extensions
sudo rosdep init
rosdep update
rosdep install --from-paths /opt/ros/foxy/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"

6. 部署工作空间

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建立如下目录结构
cd /work/module_chassis/chassis/src
ros2 pkg create big_bringup --build-type ament_cmake
产生结果
iibull@MC:~/work/module_chassis/chassis/src$ tree .
.
└── big_bringup
├── CMakeLists.txt
├── include
│ └── big_bringup
├── package.xml
└── src
添加测试代码
cd /work/module_chassis/chassis;
rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-up-to big_bringup
产生 build install log src. source install/setup.bash 是的环境生效.

7. 应用为发布模式
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iibull@MC:~/work/module_chassis/chassis$ cat /etc/ROS2_ENV
#!/bin/sh
export ROS_DOMAIN_ID=91
export ROS_LOCALHOST_ONLY=1 ##因为目前场景不需要分布式
source /opt/ros/foxy/setup.bash
source /work/module_chassis/chassis/install/setup.bash
export GIT_SSL_NO_VERIFY=1
export SLAM_MAP_DIR=/work/module_chassis/chassis/SlamMap
export VP_CALLBACK_ECHO=everything_is_OK
iibull@MC:~/work/module_chassis/chassis$

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#添加到 .bashrc中
source /etc/ROS2_ENV
alias gw='cd /work/module_chassis/chassis'
alias gs='cd /work/module_chassis/chassis/src'
alias gm='cd /work/module_chassis/chassis && colcon build'

确认环境正确性

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iibull@MC:~$ printenv | grep ROS
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=91
ROS_LOCALHOST_ONLY=1
ROS_DISTRO=foxy

好了, 节后移植送货机器人代码到 ROS2 foxy

忽然发现 ROS2很多库都没有移植上来, 包括 rplidar(可自行移植,比较简单), USB_Cam, ar_track_alvar, 奥比中光的估计够呛, 老外的用法很多用的是 ros1_bridge , https://answers.ros.org/question/342143/ros2dashingar_track_alvar-for-ros2/ 那么用ROS2的意义就不大了.

so so 想想还是kinetic吧.

iibull

在miniPC上部署ROS2 foxy