77 lines
2.5 KiB
Markdown
77 lines
2.5 KiB
Markdown
---
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title: OriginBot开发套件
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createTime: 2025/02/25 05:19:11
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permalink: /learning-notes/ROS2/origin-bot-toolkit/
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icon: https://www.originbot.org/assets/img/favicon.png
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---
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OriginBot使用与开发过程主要在PC端完成，完成以上Ubuntu和ROS2的环境配置后，还需要将OriginBot的PC端功能包下载到电脑上，并且完成编译，便于后续操作使用。
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:::tip
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如果你觉得下载过慢，可以参照[VMWare安装](1.VMWare%E5%AE%89%E8%A3%85.md)中的`ROS2系统安装`下`配置镜像源`操作。
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:::
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:::steps
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1. 创建PC端工作空间
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```shell
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mkdir -p ~/dev_ws/src
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```
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2. 下载originbot_desktop和依赖包
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OriginBot电脑端的功能包都放置在[originbot_desktop代码仓库](https://gitee.com/guyuehome/originbot_desktop)中：
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```shell
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cd ~/dev_ws/src
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sudo apt install git #安装git
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git clone https://gitee.com/guyuehome/originbot_desktop.git
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```
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3. 安装功能包和依赖
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为满足后续机器人开发的使用，还需要安装一系列功能包与依赖库：
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这个过程需要反复确认，不要走开！
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```shell
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sudo apt install python3-colcon-ros
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sudo apt install python3-colcon-common-extensions # ROS2编译器
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sudo apt install ros-${ROS_DISTRO}-nav2* # 安装导航功能包
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sudo apt install ros-${ROS_DISTRO}-xacro # 安装模型解析功能包
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sudo apt install ros-${ROS_DISTRO}-teleop-twist-keyboard # 安装键盘控制节点
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sudo apt install ros-${ROS_DISTRO}-rmw-cyclonedds-cpp # 安装Cyclone DDS
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sudo apt install ros-${ROS_DISTRO}-cv-bridge # 安装图像处理包
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sudo apt install ros-${ROS_DISTRO}-robot-state-publisher # 安装机器人状态发布者包
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sudo apt install ros-${ROS_DISTRO}-joint-state-publisher # 安装关节状态发布者包
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sudo apt install ros-${ROS_DISTRO}-joint-state-publisher-gui # 安装关节状态发布者包
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sudo apt install ros-${ROS_DISTRO}-image-transport # 安装图像压缩包
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sudo apt install ros-${ROS_DISTRO}-image-transport-plugins # 安装图像压缩包
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sudo apt install libzbar-dev
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```
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一次下载完
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```shell
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cd ~/dev_ws/src/originbot_desktop/
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./install_prereq.sh
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```
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4. 编译工作空间
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```shell
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cd ~/dev_ws
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colcon build
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```
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5. 设置环境变量
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为方便后续使用，我们需要配置环境变量，让系统知道工作空间的位置：
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```shell
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gedit ~/.bashrc
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```
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```shell
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source ~/dev_ws/install/setup.sh
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```
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至此，OriginBot电脑端的功能包配置完毕。
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::: |