Ubuntu 22.04にROS2
RobotinoをROS2へ対応で色々と勘違いしていたので,
まずは手元のマシンにUbuntu 22.04を入れて,そこにROSを入れてみます.
とりあえず遠隔で触れるようにします.
Ubuntu 24.04のインストールあたりを参考に作業.
sudo apt-get install net-tools openssh-server sudo apt-get update sudo apt-get upgrade
settings から
・「System」→「users」→「Automatic Login」を有効に.
・「Power」→「Power Mode」を「Balanced」に変更(Performanceはなかった… ← マシンによるっぽい.別のマシンだと出てきた).
・「Power」→「Power Saving Options」→「Screen Blank」を「Never」に変更.
・「Sharing」→「Remote Desktop」の「Remote Desktop」と「Remote Control」を有効に.
・「System」→「Remote Login」を有効に.
しました.
一般的な設定は,いつも通りです.
sudo apt-get install -y subversion git gcc build-essential vim screen ccache sudo update-locale LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8 ### 標準のエディタをvim に変更 # vimを選んでね. sudo update-alternatives --config editor ### sudo をNOPASSWD で使いたいならばsudo visudo で%sudo の項目を以下のように変更 sudo visudo ### ここから(頭の#は外して下さい.) # #%sudo ALL=(ALL:ALL) ALL # %sudo ALL=(ALL) NOPASSWD:ALL ### ここまで.
ROS2の設定.
sudo apt-get install -y curl 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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null sudo apt update sudo apt install -y ros-humble-desktop ros-dev-tools gazebo ros-humble-gazebo-* ros-humble-joint-state-publisher ros-humble-rqt-* cd mkdir -p ros2_ws/src cd ros2_ws sudo rosdep init rosdep update source /opt/ros/humble/setup.bash colcon build source /opt/ros/humble/setup.bash source ~/ros2_ws/install/local_setup.bash
git にあがっているlibrealsense2とrobotino-daemonsがちょっと古いですね.
cd ~/Downloads wget http://packages2.openrobotino.org/pool/focal/main/libr/librealsense2/librealsense2_2.44.0_amd64.deb wget http://packages2.openrobotino.org/pool/focal/main/r/rec-rpc/rec-rpc_1.6.1_amd64.deb wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-api2/robotino-api2_1.1.14_amd64.deb wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-daemons/robotino-daemons_2.1.4_amd64.deb wget http://packages2.openrobotino.org/pool/focal/main/r/robotino-dev/robotino-dev_1.0.3_amd64.deb wget http://archive.ubuntu.com/ubuntu/pool/main/b/boost1.71/libboost-program-options1.71.0_1.71.0-6ubuntu6_amd64.deb sudo apt-get install -y libqt5serialport5 at wput jq gawk libcpprest2.10 libjq1 libonig5 libgnutls-openssl27 sudo adduser robotino sudo dpkg -i *.deb mkdir ~/git cd ~/git git clone https://github.com/robocup-logistics/ros2-robotino cd ~/ros2_ws/src ln -s ~/git/ros2-robotino . cd .. colcon build --symlink-install
READMEに従って,
cd ~/ros2_ws source /opt/ros/humble/setup.bash source install/setup.bash ros2 launch rto_node robotino_driverbringup.launch.py namespace:=robotinobase1 hostname:=192.168.11.54:12080
よし,Robotino につながった!
ryukoku@ryukoku-virtual-machine:~$ ros2 node list /robotinobase1/joy_node /robotinobase1/robot_state_publisher /robotinobase1/robotino_node /robotinobase1/robotino_odometry_node /robotinobase1/robotino_teleop /static_transform_publisher_11F9ghIKUJCMucmw /static_transform_publisher_V90xbQ9brfbR8Vuh /static_transform_publisher_YU8CSvB3kb04HfA1
ryukoku@ryukoku-virtual-machine:~$ ros2 topic list /parameter_events /robotinobase1/analog_readings /robotinobase1/battery_status /robotinobase1/bumper /robotinobase1/cmd_vel /robotinobase1/digital_readings /robotinobase1/encoder_readings /robotinobase1/gripper_state /robotinobase1/imu /robotinobase1/irsensor_pcl /robotinobase1/irsensor_scan /robotinobase1/joint_states /robotinobase1/joy /robotinobase1/joy/set_feedback /robotinobase1/motor_readings /robotinobase1/odom /robotinobase1/robot_description /robotinobase1/set_digital_values /rosout /tf /tf_static
ふむふむ.
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