机器人操作系统ROS_典型功能实现方法详解分析解析

1机器人操作系统ROS:典型功能实现方法详解李宝全ROS体系.......................................................................................................................2ROS安装.......................................................................................................................3TurtleBot配置与运行...................................................................................................3ROS基础的学习...........................................................................................................4P3-AT/DX......................................................................................................................8ROSARIA配置与运行.............................................................................................................8ROSARIA键盘控制:..............................................................................................................10ROSARIA程序控制方式：....................................................................................................11Android遥控.............................................................................................................................11TurtleBot的键盘控制:................................................................................................12配置USB转串口........................................................................................................12CmakeList.txt的制作..................................................................................................13图像的发布与接收......................................................................................................13图像的接收，处理与显示......................................................................................................13Kinect端获取图像..................................................................................................................14内置USB摄像头图像获取....................................................................................................15外接USB摄像头图像获取....................................................................................................17KinectSkeleton.............................................................................................................17TFListener(综合实现人体跟踪)................................................................................19Voice............................................................................................................................22语言识别pocketsphinx...........................................................................................................22识别结果的接收与显示..........................................................................................................23语言发布..................................................................................................................................23综合:捕获String并发声........................................................................................................25两主机通讯ROS_Network.........................................................................................25ROS_OpenTLD...........................................................................................................27ROS学习材料.............................................................................................................272ROS体系版本：Hydro2013-09-04Groovy2012-12-31Fuerte2012-04-23ElectricDiamondbackROS是一种分布式的处理框架。文件系统：在硬盘上查看的ROS源代码的组织形式包Package：含有manifest.xml或package.xml？比如下文中的turtlebot_teleop，turtlebot_bringup。堆：Stack包的集合含有stack.xml编译方法：catkin：Groovy及以后版本rosbuild：用于Fuerte及以前版本常用命令：rostopiclist；列出系统中的所有Topicrosdep：安装依赖包，例如rosdepinstallrosaria安装时，需要先建一个工作空间，然后把gitgub网站上相应的包下载到src文件夹下，再执行该语句。具体见“ROSARIA配置与运行”一节。环境变量设置：export例如：exportROS_HOSTNAME=marvinexportROS_MASTER_URI=给的一些有用的命令rosnodeinfo/rosaria_teleop_key_1rosrunrqt_robot_steeringrqt_robot_steeringrosrunrqt_guirqt_guirostopichelprosnodehelprosnodeinfo/RosAriarosnodeinfo/rosaria_teleop_key_1rosnodelistecho$ROS_HOSTNAME3ROS安装安装教程：://packages.ros.org/ros/ubuntuprecisemain/etc/apt/sources.list.d/ros-latest.list'1.3安装keyswget|sudoapt-keyadd-1.4安装使Debian包为最新：sudoapt-getupdateFull安装：sudoapt-getinstallros-hydro-desktop-full会出现一个界面，利用Tab选择Yes即可成功则提示：ldconfigdeferredprocessingnowtakingplace找到可以使用的包：apt-cachesearchros-hydro1.5初始化rosdepsudorosdepinitrosdepupdate1.6环境设置echosource/opt/ros/hydro/setup.bash~/.bashrcsource~/.bashrc1.7得到rosintallsudoapt-getinstallpython-rosinstallTurtleBot配置与运行介绍TurtleBot的主页面（安装&运行）：包(Package)的安装过程安装（turtlebot/Tutorials/hydro/Installation）：按照DebsInstallation按照方法来安装：1.首先安装：sudoapt-getinstallros-hydro-turtlebotros-hydro-turtlebot-appsros-hydro-turtlebot-vizros-hydro-turtlebot-simulatorros-hydro-kobuki-ftdi2.之后加入sourse的bash中：./opt/ros/hydro/setup.bash.说明：a)在终端中输入这一行后很快就结束.b)效果是在.bashrc（Home中的隐藏文件）的最后一行加入了source/opt/ros/hydro/setup.bash,c)效果等效于命令echosource/opt/ros/hydro/setup.bash~/.bashrc.这样的话就不用每次