# learning_ros

**Repository Path**: CyberInnova/learning_ros

## Basic Information

- **Project Name**: learning_ros
- **Description**: ROS中间件编程学习笔记
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2024-03-09
- **Last Updated**: 2024-03-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 一、简介
> 适用于 ros noetic 版本(ubuntu20.04)

### 1. 下载与编译
```bash
cd ~/

mkdir -p catkin_ws/src

cd catkin_ws/src

git clone https://gitee.com/mingdonghu/learning_ros.git

cd ~/catkin_ws

rosdep install --from-paths src --ignore-src  -r -y

catkin_make
```

### 2. 功能包说明

| 功能包名      | 说明 |
| :-----------: | :-----------: |
| [learn_topic_comm](./learn_topic_comm)  | 基于发布-订阅模型的ROS话题通信       |
| [learn_topic_userdef](./learn_topic_userdef)   | ROS话题消息类型自定义        |
| [learn_service_comm](./learn_service_comm)  | 基于客户端(请求)-服务器(应答)模型的ROS服务通信       |
| [learn_service_userdef](./learn_service_userdef)   | ROS服务数据类型自定义        |
| [learn_parameter](./learn_parameter)| ROS参数服务器使用示例 |
| [learn_tf](./learn_tf)| ROS坐标系管理系统tf，tf广播器，tf监听器，目前最新版本已升级到tf2|
| [learn_launch](./learn_launch)| ROS多节点配置与启动工具-roslaunch|
| [learn_actionlib](./learn_actionlib)| ROS动作库,基于客户端-服务器的通信模型，对Service通信机制的补充，服务器被请求后具有实时反馈|

## 二、相关学习资料汇总
### 0. 开发社区

- ROS [https://www.ros.org/blog/getting-started/](https://www.ros.org/blog/getting-started/)

- 古月居 [https://www.guyuehome.com/](https://www.guyuehome.com/)

- 创客智造 [https://www.ncnynl.com/](https://www.ncnynl.com/)


### 1. ROS入门

- ROS WIKI [http://wiki.ros.org/cn](http://wiki.ros.org/cn)

- 古月-ROS入门21讲

	- [https://player.bilibili.com/player.html?bvid=BV1zt411G7Vn](https://player.bilibili.com/player.html?bvid=BV1zt411G7Vn)
	- 课件链接：[https://gitee.com/guyuehome/ros_21_tutorials.git](https://gitee.com/guyuehome/ros_21_tutorials.git)

- 中科院软件所-机器人操作系统ROS入门

	- [https://player.bilibili.com/player.html?bvid=BV1mJ411R7Ni](https://player.bilibili.com/player.html?bvid=BV1mJ411R7Ni)
	- 课件链接: [https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/](https://sychaichangkun.gitbooks.io/ros-tutorial-icourse163/content/)

- AutoLabor-ROS理论与实践 [http://www.autolabor.com.cn/book/ROSTutorials/](http://www.autolabor.com.cn/book/ROSTutorials/)
### 2. ROS小车(自主移动机器人)

- 搭建ROS小车文章汇总 [https://mp.weixin.qq.com/s/pH3Hjo4DGvJ45PDHP2zoOg](https://mp.weixin.qq.com/s/pH3Hjo4DGvJ45PDHP2zoOg)

- TurleBot [https://www.turtlebot.com/](https://www.turtlebot.com/)

### 3. ROS2探索

- ROS2 官方文档 [https://docs.ros.org/en/foxy/index.html](https://docs.ros.org/en/foxy/index.html)
- 鱼香ROS  [http://fishros.com/#/fish_home](http://fishros.com/#/fish_home)