FallenSigh
ad3e823908
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
102 lines
2.5 KiB
Markdown
102 lines
2.5 KiB
Markdown
# ros2 — ROS 2 工作空间
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## 环境搭建
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支持以下三种安装方式，任选其一。
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### 方式一：Conda (robostack，跨平台)
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适用于 Linux / macOS / Windows，无需 root 权限。
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```bash
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# 安装 Miniconda
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
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bash Miniconda3-latest-Linux-x86_64.sh
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# 创建 ROS 2 Humble 环境
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conda create -n ros2_humble -c robostack-staging -c conda-forge ros-humble-desktop
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conda activate ros2_humble
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# 安装构建工具
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conda install -c robostack-staging -c conda-forge \
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colcon-common-extensions \
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ros-humble-ament-cmake \
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pip
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# Python 依赖
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pip install pynput
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```
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### 方式二：apt 原生安装 (Ubuntu 22.04)
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官方推荐的 Ubuntu 安装方式，系统级集成。
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```bash
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# 添加 ROS 2 源
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sudo apt update && sudo apt install curl gnupg lsb-release
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
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| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# 安装 ROS 2 Humble
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sudo apt update
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sudo apt install ros-humble-desktop python3-colcon-common-extensions
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# Python 依赖
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pip install pynput
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# 环境配置（或写入 ~/.bashrc）
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source /opt/ros/humble/setup.bash
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```
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### 方式三：Docker
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推荐用于 CI/CD 或快速体验，无需污染宿主机环境。
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```bash
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# 拉取镜像
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docker pull osrf/ros:humble-desktop
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# 启动容器（挂载工作空间）
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docker run -it --rm \
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-v $(pwd)/ros2:/ws \
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osrf/ros:humble-desktop \
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bash
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# 容器内安装依赖
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apt update && apt install -y python3-colcon-common-extensions python3-pip
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pip install pynput
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```
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## 构建
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```bash
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# 每次新终端都需要先加载 ROS 2 环境
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source /opt/ros/humble/setup.zsh
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cd ros2
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colcon build --symlink-install --packages-select udp_teleop
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source install/setup.bash
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```
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> `--symlink-install`：修改 Python 源文件后无需重新构建，直接生效。
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## 运行
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```bash
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ros2 run udp_teleop keyboard_control \
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--ros-args --params-file src/udp_teleop/config/params.yaml
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```
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也可以通过命令行覆盖参数：
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```bash
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ros2 run udp_teleop keyboard_control \
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--ros-args -p udp_ip:=192.168.1.100 -p udp_port:=9999
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```
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## 包文档
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详见 [src/udp_teleop/README.md](src/udp_teleop/README.md)，包含按键映射、UDP 协议、参数配置等。
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