2020-09-07 12:04:51 +08:00
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# ros_comm
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#### 介绍
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2021-04-19 23:36:14 +08:00
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ros_comm软件包提供了与ROS通信相关的软件包，包括核心客户端库（roscpp，rospy）和图形工具
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2020-09-07 12:04:51 +08:00
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#### 软件架构
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软件架构说明
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2021-04-19 23:36:14 +08:00
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该ros_comm堆栈包含ROS中间件/通信包。这些程序包统称为ROS“图形”层。它们为主题，节点，服务和参数提供了实现和工具。这包括受支持的ROS客户端库：roscpp，rospy和roslisp。
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2020-09-07 12:04:51 +08:00
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2022-11-12 15:02:23 +08:00
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文件内容:
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```
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ros_comm
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├── clients
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│ ├── roscpp
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│ └── rospy
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├── ros_comm
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│ ├── CHANGELOG.rst
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│ ├── CMakeLists.txt
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│ └── package.xml
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├── test
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│ ├── test_rosbag
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│ ├── test_rosbag_storage
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│ ├── test_roscpp
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│ ├── test_rosgraph
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│ ├── test_roslaunch
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│ ├── test_roslib_comm
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│ ├── test_rosmaster
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│ ├── test_rosparam
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│ ├── test_rospy
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│ ├── test_rosservice
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│ ├── test_rostest
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│ └── test_rostopic
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├── tools
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│ ├── rosbag
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│ ├── rosbag_storage
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│ ├── rosgraph
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│ ├── roslaunch
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│ ├── rosmaster
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│ ├── rosmsg
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│ ├── rosnode
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│ ├── rosout
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│ ├── rosparam
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│ ├── rosservice
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│ ├── rostest
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│ ├── rostopic
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│ └── topic_tools
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└── utilities
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├── message_filters
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├── roslz4
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├── roswtf
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└── xmlrpcpp
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```
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2020-09-07 12:04:51 +08:00
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#### 安装教程
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2022-11-12 15:02:23 +08:00
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1. 下载rpm包
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aarch64:
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wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-comm/ros-noetic-ros-comm-1.15.11-2.oe2203.aarch64.rpm
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x86_64:
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wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-comm/ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm
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2021-04-19 23:34:20 +08:00
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2022-11-12 15:02:23 +08:00
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2. 安装rpm包
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2021-04-19 23:34:20 +08:00
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2022-11-12 15:02:23 +08:00
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aarch64:
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2021-04-19 23:34:20 +08:00
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2022-11-12 15:02:23 +08:00
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sudo rpm -ivh ros-noetic-ros-comm-1.15.11-2.oe2203.aarch64.rpm --nodeps --force
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x86_64:
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sudo rpm -ivh ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm --nodeps --force
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2020-09-07 12:04:51 +08:00
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#### 使用说明
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2022-11-12 15:02:23 +08:00
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依赖环境安装:
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sh /opt/ros/noetic/install_dependence.sh
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安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功
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输出:
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```
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ros_comm/
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├── cmake.lock
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├── env.sh
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├── local_setup.bash
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├── local_setup.sh
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├── local_setup.zsh
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├── setup.bash
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├── setup.sh
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├── _setup_util.py
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└── setup.zsh
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```
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2020-09-07 12:04:51 +08:00
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#### 参与贡献
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1. Fork 本仓库
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2. 新建 Feat_xxx 分支
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3. 提交代码
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4. 新建 Pull Request
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#### 码云特技
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1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
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2. 码云官方博客 [blog.gitee.com](https://blog.gitee.com)
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3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解码云上的优秀开源项目
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4. [GVP](https://gitee.com/gvp) 全称是码云最有价值开源项目，是码云综合评定出的优秀开源项目
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5. 码云官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
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6. 码云封面人物是一档用来展示码云会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
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