> For the complete documentation index, see [llms.txt](https://docs.petoi.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.petoi.com/chinese/api/ros.md).

# ROS

ROS 接口

 ROS 安装包可以供开发人员轻松连接到 ROS 环境。 建议将 ROS 与 Raspberry Pi 一起使用。

### 在树莓派上使用ROS

目前建议使用docker安装ROS

* 在树莓派上安装 docker (详情参考[文档](https://phoenixnap.com/kb/docker-on-raspberry-pi))

```bash
sudo apt-get update && sudo apt-get upgrade
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo usermod -aG docker pi
# test installation
docker run hello-world
```

* 准备工作环境

```bash
mkdir -p workspace/src
cd workspace/src
git clone https://github.com/PetoiCamp/ros_opencat
cd ros_opencat
git submodule init && git submodule update
cd ../../..
```

* 运行容器

```bash
docker run -v path/to/workspace:/workspace \
-it --rm --privileged --network host --name ros ros:noetic-robot
```

* 源文件和并在容器内构建

```bash
cd /workspace
source /opt/ros/noetic/setup.bash
catkin_makbase
source devel/setup.bash
```

* 运行例程 (更多参考示例)

```bash
rosrun opencat_examples opencat_examples_serial
```

### 使用ROS实现远程控制

Ros 在设计时考虑了分布式计算。 这是一个关于如何在不同机器上运行节点的简单示例。

* 在主机上（通常比 Raspberry Pi 更强大）

```bash
# launch server
roscore
```

* 在树莓派上运行服务节点

```bash
export ROS_MASTER_URI=http://<Host_IP>:11311/
rosrun opencat_server opencat_service_node
```

* 从主机发送指令

```basic
rosrun opencat_examples opencat_examples_client_cpp
```

### 例程

* 使用 serial 库

```batch
rosrun opencat_examples opencat_examples_serial
```

* 使用 ROS 服务

```bash
# start core
roscore
# start service server
rosrun opencat_server opencat_service_node
# examples using oppencat ros service in C++
rosrun opencat_examples opencat_examples_client_cpp
# examples using opencat ros service in python
rosrun opencat_examples opencat_examples_client_py
```


---

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