ROS报告PPT

CompanyLOGORobotOperatingSystemLaboratoryforCognitiveTechnologiesYuBinCompanyLogo1.Whatisubuntu?2.Briefdescriptionofshell3.SomeFileManagercommandCompanyLogoUbuntuisaLinux-basedOperatingSystemthatisopensourced(free)Pronounced(oo-BOON-too)StrongfocusonusabilityandeaseofinstallationCompanyLogo1.Whatisubuntu?2.Briefdescriptionofshell3.SomeFileManagercommandCompanyLogoShellisaUNIXtermfortheinteractiveuserinterfacewithanoperatingsystem.Theshellisthelayerofprogrammingthatunderstandsandexecutesthecommandsauserenters.Insomesystems,theshelliscalledacommandinterpreter.CompanyLogo1.Whatisubuntu?2.Briefdescriptionofshell3.SomeFileManagercommandCompanyLogoBasicsyntaxofshellcommands命令[选项][参数]eg.cp-v-r/home/yubinpanxxsudocp-r/opt/ros/usr/localcdchangedirectorypwdprintworkingdirectorylslistCompanyLogocpfindmkdirgeditvimmvrm.......chmodrenamermdirwhereismanmakeapt-getCompanyLogo*Amastercoordinationnode*PublishingorSubscribingtodatastreams(images,stereo,laser,control,actuator,contact...)*Multiplexinginformation*Nodecreationanddestruction*Nodesareseamlesslydistributed,allowingdistributedoperationovermulti-core,multi-processor,GPUandclusters.*Logging*Parameterserver*TestsystemsCompanyLogo*Perception*ObjectIdentification*SegmentationandRecognition*FaceRecognition*GestureRecognition*MotionTracking*Ego-motion*MotionUnderstanding*Structurefrommotion(SFM)CompanyLogo(msg)ConceptsCompanyLogorospack=ros+pack(age):providesinformationrelatedtoROSpackagesrosstack=ros+stack:providesinformationrelatedtoROSstacksroscd=ros+cd:changesdirectorytoaROSpackageorstackrosls=ros+ls:listsfilesinaROSpackageroscp=ros+cp:copiesfilesfrom/toaROSpackagerosmsg=ros+msg:providesinformationrelatedtoROSmessagedefinitionsrossrv=ros+srv:providesinformationrelatedtoROSservicedefinitionsrosmake=ros+make:makes(compiles)aROSpackagerosnode=ros+node:ROStooltogetinformationaboutanode.rosrun=ros+run:runsanodefromagivenpackage.CompanyLogo$1.creatingapackage:$roscreate-pkgbeginner_tutorialsstd_msgsrospyroscpp$roscdbeginner_tutorials$sudogedit/nodes/talker.py$sudogedit/nodes/listener.py$makethenodeexecutablechmod+xnodes/talker.pychmod+xnodes/listener.py$make$rosrunbeginner_tutorialstalker.py__name:=talker(Python)$rosrunbeginner_tutorialslistener.py__name:=listener(Python)CompanyLogo$rosedbeginner_tutorialsCMakeLists.txtrosbuild_add_executable(talkersrc/talker.cpp)rosbuild_add_executable(listenersrc/listener.cpp)$make$rosrunbeginner_tutorialstalker__name:=talker(C++)$rosrunbeginner_tutorialslistener__name:=listener(C++)CompanyLogo$roscore$rosrunturtlesimturtlesim_node$rosrunturtle_teleopturtle_teleop_keyCompanyLogo$rxgraphCompanyLogo$rostopicecho/turtle1/command_velocity---linear:2.0angular:0.0---linear:2.0angular:0.0---linear:2.0angular:0.0---CompanyLogo$rostopicecho/turtle1/command_velocity$rostopicpub-1/turtle1/command_velocityturtlesim/Velocity--2.01.8CompanyLogo$rostopicpub/turtle1/command_velocityturtlesim/Velocity-r1--2.0-1.8$rostopichz/turtle1/pose$rostopichz/turtle1/pose