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ROS-SDK

安装Installing ROS 软件包Packages

提示Tip

有限支持的ROS版本：Limited support for ROS versions:

Ubuntu 18.04 Melodic (详细信息请见下方注释)see comments below for details)

支持的ROS版本范围:Supported ROS versions:

Ubuntu 20.04

  • ROS1: Noetic
  • ROS2: Foxy, Galactic

Ubuntu 22.04

  • ROS2: Humble, Iron

注意,Note, Ubuntu18.Ubuntu 18.04 版本已经停止支持,version 提供不再更新的zip存档供下载.is 如果需要使用no Ubuntu1804longer supported, a non-updating zip archive is available for download. If you need to use Ubuntu 18.04 ROS Melodic，部分硬件需要固件降级才可正常使用。请提前咨询售前,Melodic, 避免购买的硬件不支持的情况.some hardware may require firmware downgrades to function properly. Please consult with sales in advance to avoid purchasing unsupported hardware.

警告Warning 注意,Note, 下载软件包之前,before 需要先安装好downloading ROS.the 并package, you need to have ROS installed and source 你所需要使用的版本.the 否则下载的软件包将version you need to use. Otherwise, the downloaded package will 无法使用not be usable.

在你想要安装SDK的路径,In 打开终端输入以下命令the path where you want to install the SDK, open the terminal and enter the following command:

wget -O hextool.bash https://ros.dl.hexmove.cn/ros.dl/hextool.bash && bash hextool.bash

提示Tip 为防止手敲命令敲错字符,To 建议使用prevent typos when typing commands, it is recommended to use the browser that comes with Ubuntu 所带的浏览器直接打开本网址,to 并将命令从浏览器中复制到终端.open this website and copy the command from the browser to the terminal.

随后按照指引操作。Then follow the instructions.

  • 选择语言Choose language LangChoose.png
  • 工具选择,Tool 选择selection, choose 1: Download SDK ToolChoose.png
  • SDK选择,SDK 选择你要下载的SDK。请根据实际购买的产品来选择。这里以selection, choose the SDK you want to download. Please select according to the product you actually purchased. Here is an example with ORCS-DIFF 为例。DIFF. SDKChoose.png
  • 确认新建文件夹的位置是否正确Confirm the location of the new folder is correct ConfirmDir.png
  • 部分包需要通过Some APTpackages 安装，输入密码完成安装。need to be installed via APT, enter the password to complete the installation. Password.png
  • SDK下载完成SDK download completed Finished.png
  • 编译测试Compile test Compile.png

SDK软件包结构说明SDK Package Structure Description

各个软件包大同小异,The 这里以packages are similar, here is an example with ORCS-DIFF 为例.DIFF.

root@1c2edac84f0b:~# tree -d -L 5
.
└── sdk_orcs_diff_ws
    └── src
        ├── demo
        │   └── demo_general_chassis
        │       ├── demo_vehicle
        │       └── tools
        └── drivers
            └── xpkg_vehicle
                ├── include
                ├── ini
                ├── launch
                ├── scripts
                ├── src
                └── tools

14 directories
  • demo 文件夹:folder: 存放Contains demo launch 文件,files, 用户可以参考其中的内容编写自己的users can refer to them to write their own launch 文件.files.

警告Warning 注意,Note, the launch files in the demo 文件夹中的folder are designed to only start one at a time. Do not launch 文件均设计成为只能同时启动一个. 请不要同时multiple launch 多个files launch 文件simultaneously.

  • drivers 文件夹:folder: 基础机器人驱动软件Basic robot driver software, such as charging stations (if any), 例如充电桩(如果有),chassis 底盘控制等control, etc.
  • urdf 文件夹:folder: 用来放Used to store URDF files
  • 此外，另有两个包通过In aptaddition, 完成了安装two other packages were installed via apt:
    • ros-$ROS_DISTRO-xpkg-comm 负责与底盘间的物理通信。responsible for physical communication with the chassis.
    • ros-$ROS_DISTRO-xpkg-msgs 负责提供消息类型。responsible for providing message types.

如果没有专业指导,If 请勿改动除了you are not professionally guided, do not modify any packages other than the demo 文件夹之外的任何软件包.folder.

使用SDK软件包Using the SDK Package

软件包提供了测试demo，请查阅The package provides a test demo, please refer to 使用ROS的demoUsing ROS Demo

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