diff --git a/user_doc/ROS-noetic-oerv24.03-x86/README.md b/user_doc/ROS-noetic-oerv24.03-x86/README.md new file mode 100644 index 0000000000000000000000000000000000000000..07fe6123ec9b067f78d655825f5176838d9e8090 --- /dev/null +++ b/user_doc/ROS-noetic-oerv24.03-x86/README.md @@ -0,0 +1,183 @@ +# ROS1 Noetic 在 openEuler-24.03-LTS-x86 上的测试 + +## 环境信息 + +#### 硬件信息 +1. 处理器 intel 13700k +3. 内存 8GB + +#### 软件信息 +1. 宿主机操作系统：Ubuntu 18.04 +2. OS 版本：openEuler-24.03-LTS-x86 +3. 镜像地址：https://www.openeuler.org/zh/download/?version=openEuler%2024.03%20LTS +4. 软件源：https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/ + + +## 测试安装 + +### 修改软件源 + +执行以下命令 + +```bash +bash -c 'cat << EOF > /etc/yum.repos.d/ROS.repo +[openEulerROS-noetic] +name=openEulerROS-noeic +baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/ +enabled=1 +gpgcheck=0 +EOF' +``` + +### 安装 + +```bash +yum install "ros-noetic-*" +``` + +安装成功,完整日志见 [yum_install.log](./logs/dnf_install.log) + +安装上述软件列表后，编辑 `~/.bashrc` 追加以下内容 + +```bash +source /opt/ros/noetic/setup.sh +``` + +随后输入`source ~/.bashrc`来激活 + +## 安装UKUI桌面 + +安装字体 + +``` +sudo dnf -y groupinstall fonts +``` + +安装UKUI + +``` +sudo dnf -y install ukui +``` + +设置图形启动 + +``` +sudo systemctl set-default graphical.target +``` + +重启电脑 + + +## 测试 ros 基础工具相关功能 + +#### 1 catkin_make编译工具 + +##### 1.1 catkin_make_isolated 编译命令 + +执行 +``` +mkdir -p ~/catkin_ws/src +cd ~/catkin_ws/src +catkin_init_workspace +cd .. +catkin_make_isolated +source /opt/ros/noetic/setup.bash +``` +，输出如下，且当前目录存在相应文件夹，测试通过 + +![image-20231123211041770](./img/1.png) + +##### 1.2 catkin_find 查找命令 + +执行 `catkin_find catkin`，输出如下，测试通过 + +![image-20231123211113633](./img/2.png) + + +#### 2 ros基础工具 + +##### 2.1 roscore 工具 + +执行 `roscore`，输出如下，测试通过 + +![image-20231123211339270](./img/7.png) + +注: 由于ros通讯方式需求，roscore节点需要一直开启 + +##### 2.2 rostopic 工具 + +执行 `rostopic list`，输出如下，测试通过 + +![image-20231123211408235](./img/8.png) + +##### 2.3 rosmsg 工具 + +执行 `rosmsg list`，输出如下，测试通过 + +![image-20231123211430761](./img/9.png) + +##### 2.4 rosclean 工具 + +执行 `rosclean check`，输出如下， 测试通过 + +![image-20231123211555419](./img/10.png) + +##### 2.5 rosservice 工具 + +执行命令 `rosservice list`，输出如下，测试通过 + +![image-20231123211815754](./img/11.png) + +##### 2.6 rospack 工具 + +执行命令 `rospack list`，输出如下，测试通过 + +![image-20231123211858357](./img/12.png) + +##### 2.7 rosnode 工具 + +执行命令 `rosnode list`，输出如下，测试通过 + +![image-20231123211939845](./img/13.png) + + +##### 2.7 rosbag 工具 + +执行命令 `rosbag record -a`，输出如下，测试通过 + +![image-20231123211939845](./img/14.png) + + +执行命令 `rosbag info [bag文件]`，输出如下，测试通过 + +![image-20231123211939845](./img/15.png) + + + +执行命令 `rosbag play [bag文件]`，输出如下，测试通过 + +![image-20231123211939845](./img/16.png) + +##### 2.8 rosgraph 工具 + +执行命令 `rosgraph`，输出如下，测试通过 + +![image-20231123211939845](./img/17.png) + + +##### 2.9 roslaunch 工具 + +执行命令 `roslaunch roscpp_tutorials talker_listener.launch`，输出如下，测试通过 + +![image-20231123211939845](./img/18.png) + + +##### 2.10 ros topic 通讯功能 + +执行命令 `rosrun roscpp_tutorials talker`，输出如下，测试通过 + +![image-20231123211939845](./img/19.png) + +执行命令 `rosrun roscpp_tutorials listener`，输出如下，测试通过 + +![image-20231123211939845](./img/20.png) \ No newline at end of file diff --git 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