塔洛斯社团考核

土木（布院）-24-李芊墨

使用教程（ubuntu）

安装ros2&应用ros2环境变量

sudo apt update -y && \
    sudo apt install -y --no-install-recommends \
        tzdata \
        build-essential \
        curl \
        gnupg2 \
        lsb-release \
        locales \
        software-properties-common \
        x11-apps && \
    sudo ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    sudo dpkg-reconfigure --frontend noninteractive tzdata && \
    sudo locale-gen en_US en_US.UTF-8 && \
    sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \

sudo apt update -y && \

sudo apt upgrade -y && \

sudo apt install -y --no-install-recommends \
        ros-humble-desktop \
        ros-dev-tools \
        ros-humble-turtlesim \
        '~nros-humble-rqt*' && \

sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*

echo "source /opt/ros/humble/setup.bash" | sudo tee -a /etc/bash.bashrc

source /opt/ros/humble/setup.bash

克隆仓库&更改目录

git clone https://github.com/Qume2005/talos-recruitment.git

cd ./talos-recruitment

构建包

colcon build

应用项目工作空间环境变量

source install/setup.bash

启动turtlesim_node

ros2 run turtlesim turtlesim_node

启动turtle_controller

ros2 run moving task1