ros机器人硬件搭建

ROS VPS预装指南：快速构建机器人开发环境

ROS(Robot Operating System)是一个用于编写机器人软件的开源框架，它提供了一系列工具和库，可以帮助开发者快速构建机器人开发环境，在本文中，我们将介绍如何在VPS上搭建ROS环境，以便为机器人软件开发提供一个稳定、高效的平台。

准备工作

1、注册一个域名和购买VPS:你需要注册一个域名并购买一台VPS，建议选择一家可靠的VPS服务商，如阿里云、腾讯云等。

2、安装Linux操作系统：在VPS上安装Linux操作系统，推荐使用Ubuntu或CentOS，安装完成后，更新系统软件包列表并重启服务器。

3、安装SSH服务：为了方便远程登录VPS,需要安装SSH服务，在终端中输入以下命令进行安装：

“`

sudo apt-get update

sudo apt-get install openssh-server

“`

4、添加公钥：为了保证安全，需要将本地计算机的公钥添加到VPS的authorized_keys文件中，在本地计算机上生成SSH密钥对(如果已有密钥对，可以跳过此步骤):

“`

ssh-keygen -t rsa

“`

将公钥内容复制到VPS的~/.ssh/authorized_keys文件中：

“`

cat ~/.ssh/id_rsa.pub | ssh user@your_vps_ip ‘cat >> ~/.ssh/authorized_keys’

“`

5、配置防火墙：为了允许SSH连接，需要配置防火墙，在终端中输入以下命令进行配置：

“`

sudo ufw allow ssh

sudo ufw enable

“`

安装ROS环境

1、添加ROS官方仓库：在终端中输入以下命令，将ROS官方仓库添加到apt源列表中：

“`

echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list

“`

2、更新软件包列表：执行以下命令更新软件包列表：

“`

sudo apt-get update

“`

3、安装ROS:根据你的Ubuntu版本和ROS版本，选择相应的命令进行安装，如果你使用的是ROS Kinetic版本，可以执行以下命令进行安装：

“`

sudo apt-get install python-rosdep python-wstool build-essential git catkin_pkg libcatkin-dev python-catkin-pkg python-rosinstall python-rosinstall-generator python-wstool build-essential exectables xz-utils tar curl zlib1g-dev libbz2-dev libjpeg-dev libpng-dev libtiff5-dev liblcms2-dev libopenexr-dev libusb-1.0-0-dev libudev-dev libv4l-dev libv4lconvert0 libhdf5-serial-dev protobuf-compiler libeigen3-dev python-numpy python-pip cmake wget libboost-all-dev libboost-thread-dev libboost-filesystem-dev libboost-chrono-dev libboost-program-options-dev libboost-test-dev libboost-regex-dev libboost-system-dev libboost-iostreams-dev libboost-locale-dev libboost-graph-dev libboost-random-dev libboost-math-dev libboost-mpi-python3 # –with-all-dependencies –extra-args="–with-cron –with-multiprocessing –with-networking –with-ssl" # –update=no # –install=yes # –noconfirm # –allowerasing # –skiplicense; for more information about dependencies see: https://wiki.ros.org/Installation/Ubuntu#Dependencies; to install a specific version of a package use the following command: sudo apt install <package>=<version>; to remove all installed packages and start over run the following commands: sudo apt autoremove && sudo apt clean && sudo apt update && sudo apt upgrade && sudo apt install python3-catkin python3-rosdep python3-wstool build-essential git catkin_pkg libcatkin5 python3-rosinstall python3-rosinstall-generator python3-wstool build-essential exectables xz gzip tar curl zlib1g bzip2 jq ca-certificates; to create a new workspace in your home directory run the following command: cd ~ && touch src; to create a new package in your workspace run the following command: cd src && catkin init; to switch between workspaces use the following command: cd <workspace_name>; to navigate to a file in your workspace run the following command: cd <file_path>; to build a package in your workspace run the following command: catkin build; to source the environment variables for your workspace run the following command: source devel/setup.bash; to list all available packages in your workspace run the following command: catkin list; to open the launch file for a package in your workspace run the following command: catkin launch; to open the documentation for a package in your workspace run the following command: docs; to open the tutorials for a package in your workspace run the following command: tutorials; to open the examples for a package in your workspace run the以下 command: example;"

验证安装结果

1、确保ROS已经正确安装：运行以下命令查看ROS版本信息：

“`

catkin info –versions –format=xml | grep "<name>ros</name>" >&2 >/tmp/rosinfo.xml || true && catkin info –format=xml | grep "<name>ros</name>" >&2 >/tmp/rosinfo.xml || true && xdg config –list >&2 >/tmp/xdgconfig.txt || true && grep "^executable=${XDG_CONFIG_HOME}/startup/xdgrc" >&2 >/tmp/xdgconfig.txt || true && echo "ROS has been successfully installed!" || echo "Error occurred while installing Ros" && exit $?; exit $?; if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred while installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully installed!"; else echo "Error occurred by installing Ros"; exit $?;fi;exit $?;if [ $? == "0" ]; then echo "ROS has been successfully