전체 글 (15) 썸네일형 리스트형 [ROS2] RPLiDAR A3M1 ROS2(foxy) package install 및 /scan topic echo test 1. Git Clone cd ${your ros2 workspace}/src git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git 2. Colcon Compile cd ${your ros2 workspace}/src/rplidar_ros colcon build --symlink-install cd ../../ colcon build --packages-select rplidar_ros source install/setup.bash 3. ttyUSB 권한 부여 ls -l /dev | grep ttyUSB sudo chmod 666 /dev/ttyUSB0 cd ${your ros2 workspace}/src/rpldiar_ros/ source scrip.. [ROS2] navigation2(foxy) package install & compile 1. Git Clone from ros-planning navigation2 cd ${your ros2 workspace}/src git clone -b foxy-devel https://github.com/ros-planning/navigation2.git 2. 필요 library & package 설치 및 compile 2-1. ZeroMQ (requires in nav2_common) sudo apt-get install libzmq3-dev 2-2. test_interface_files (requires in rcl_interfaces) cd ${your ros2 workspace}/src git clone -b foxy https://github.com/ros2/test_interface_fil.. [Linux] Raspberry PI 4 Model B - Ubuntu 20.04 Focal 설치 및 Wifi 설정 1. Ubuntu 20.04 Focal 설치 1-1. Raspberry PI Generic (64-bit ARM) preinstalled server image download 사이트 접속 1-2. Raspberry PI Imager 설치 sudo apt install raspi-imager 1-3. SD Card에 Raspberry PI Generic (64-bit ARM) preinstalled server image Write - Raspberry PI Imager 열기 raspi-imager - SD Card Select 후 Write ( Raspberry PI 4 Model B에 SD Card 삽입 후 전원 공급 ) 2. Wifi 설정 2-1. sudo vi /etc/netplan/50-clou.. [ROS2] Raspberry PI 4 Model B(Ubuntu 20.04 Focal) ROS2 Foxy 설치 1. 설치 도구 설치 sudo apt update sudo apt install curl gnupg2 lsb-release curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - sudo sh -c 'echo "deb [arch=arm64] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' 2. ROS2 foxy 설치 2-1. ros-foxy-desktop 설치 sudo apt update sudo apt install ros-foxy-desktop 2-2... [C++] jsoncpp 설치(Ubuntu 20.04 Focal) Git clone & CMake build git clone https://github.com/open-source-parsers/jsoncpp.git cd jsoncpp mkdir build && cd build cmake .. make sudo make install 설치 확인 cd /usr/local/include/json ls CMake 설정 find_package(jsoncpp REQUIRED) add_executable(${your executable} ... ) target_link_libraries(${your executable} jsoncpp) [C++] paho.mqtt.cpp 설치(Ubuntu 20.04 Focal) Git clone & CMake buildgit clone https://github.com/eclipse/paho.mqtt.cppcd paho.mqtt.cppgit co v1.4.0git submodule initgit submodule updatecmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_EXAMPLES=ONsudo cmake --build build/ --target install설치 확인cd /usr/local/include/mqttlsg++ compilecd ${your cpp workspace}g++ -o ${output binary} ${your cpp file} -lpaho-mqtt3asCMake 설정include_directories( .. [C] paho.mqtt.c 설치(ubuntu 20.04 LTS) Git clone & CMake build git clone https://github.com/eclipse/paho.mqtt.c.git cd paho.mqtt.c cmake -Bbuild -H. -DPAHO_ENABLE_TESTING=OFF -DPAHO_BUILD_STATIC=ON -DPAHO_WITH_SSL=ON -DPAHO_HIGH_PERFORMANCE=ON sudo cmake --build build/ --target install sudo ldconfig cd build make sudo make install 설치 확인 cd /usr/local/include ls gcc compile gcc -o ${output binary} ${your c file} -lpaho-mqtt3c CMake 설정.. 이전 1 2 다음
