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• 机器人学

  机器人运动学&机器人动力学 | 版主： @xpm00

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  @1357029556 在 cmake报错 中说：

  CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
  'gazebo_LIBRARIES' is defined.

  应该是没有安装好gazebo相关的开发库造成的

  sudo apt-get install gazebo9 libgazebo9-dev

  重新装下试试

• 工具软件
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  1

  clj@clj-HP-Pavilion-Laptop-14-ce1xxx:~$ wget http://fishros.com/install -O fishros && . fishros
  --2023-03-22 22:39:03-- http://fishros.com/install
  正在解析主机 fishros.com (fishros.com)... 139.9.131.171
  正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
  已发出 HTTP 请求，正在等待回应... 301 Moved Permanently
  位置：http://fishros.com/install/ [跟随至新的 URL]
  --2023-03-22 22:39:03-- http://fishros.com/install/
  再次使用存在的到 fishros.com:80 的连接。
  已发出 HTTP 请求，正在等待回应... 200 OK
  长度： 582 [application/octet-stream]
  正在保存至: “fishros”

  fishros 100%[===================>] 582 --.-KB/s 用时 0s

  2023-03-22 22:39:03 (21.0 MB/s) - 已保存 “fishros” [582/582])

  [sudo] clj 的密码：
  E: dpkg 被中断，您必须手工运行 ‘sudo dpkg --configure -a’ 解决此问题。
  --2023-03-22 22:39:06-- http://fishros.com/install/install1s/tools/base.py
  正在解析主机 fishros.com (fishros.com)... 139.9.131.171
  正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
  已发出 HTTP 请求，正在等待回应... 200 OK
  长度： 42195 (41K) [application/octet-stream]
  正在保存至: “/tmp/fishinstall/tools/base.py”

  /tmp/fishinstall/to 100%[===================>] 41.21K --.-KB/s 用时 0.05s

  2023-03-22 22:39:07 (823 KB/s) - 已保存 “/tmp/fishinstall/tools/base.py” [42195/42195])

  Run CMD Task:[dpkg --print-architecture]
  [-]Result:success

  基础检查通过... ======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
  ======一键安装已开源，请放心使用：https://github.com/fishros/install======= .-~~~~~~~~~-._ _.-~~~~~~~~~-. __.' ~. .~ `.__ .'// 开卷有益 \./ 书山有路 \ `. .'// 可以多看看小鱼的文章 | 关注公众号鱼香ROS \ `. .'// .-~"~~~~-._ | _,-~~~~"~-. \`. .'//.-" `-. | .-' "-.\`. .'//______.============-.. \ | / ..-============.______\`. .'______________________________\|/______________________________` ----------------------------------------------------------------------

  RUN Choose Task:[请输入括号内的数字]
  ---众多工具，等君来用---
  [1]:一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
  [11]:一键安装:ROS+Docker(支持所有版本ROS/ROS2)
  [2]:一键安装:github桌面版(小鱼常用的github客户端)
  [3]:一键配置:rosdep(小鱼的rosdepc,又快又好用)
  [4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
  [5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
  [6]:一键安装:nodejs
  [7]:一键安装:VsCode开发工具
  [8]:一键安装:Docker
  [9]:一键安装:Cartographer(内测版v0.1)
  [10]:一键安装:微信(可以在Linux上使用的微信)
  [12]:一键安装:PlateformIO MicroROS开发环境(支持Fishbot)
  [77]:测试模式:运行自定义工具测试
  [0]:quit
  请输入[]内的数字以选择:1
  --2023-03-22 22:39:13-- http://fishros.com/install/install1s/tools/tool_install_ros.py
  正在解析主机 fishros.com (fishros.com)... 139.9.131.171
  正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
  已发出 HTTP 请求，正在等待回应... 200 OK
  长度： 19050 (19K) [application/octet-stream]
  正在保存至: “/tmp/fishinstall/tools/tool_install_ros.py”

  /tmp/fishinstall/to 100%[===================>] 18.60K --.-KB/s 用时 0.05s

  2023-03-22 22:39:13 (405 KB/s) - 已保存 “/tmp/fishinstall/tools/tool_install_ros.py” [19050/19050])

  --2023-03-22 22:39:13-- http://fishros.com/install/install1s/tools/tool_config_rosenv.py
  正在解析主机 fishros.com (fishros.com)... 139.9.131.171
  正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
  已发出 HTTP 请求，正在等待回应... 200 OK
  长度： 2457 (2.4K) [application/octet-stream]
  正在保存至: “/tmp/fishinstall/tools/tool_config_rosenv.py”

  /tmp/fishinstall/to 100%[===================>] 2.40K --.-KB/s 用时 0s

  2023-03-22 22:39:13 (109 MB/s) - 已保存 “/tmp/fishinstall/tools/tool_config_rosenv.py” [2457/2457])

  --2023-03-22 22:39:13-- http://fishros.com/install/install1s/tools/tool_config_system_source.py
  正在解析主机 fishros.com (fishros.com)... 139.9.131.171
  正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
  已发出 HTTP 请求，正在等待回应... 200 OK
  长度： 7511 (7.3K) [application/octet-stream]
  正在保存至: “/tmp/fishinstall/tools/tool_config_system_source.py”

  /tmp/fishinstall/to 100%[===================>] 7.33K --.-KB/s 用时 0s

  2023-03-22 22:39:14 (16.1 MB/s) - 已保存 “/tmp/fishinstall/tools/tool_config_system_source.py” [7511/7511])

  欢迎使用一键安装ROS和ROS2,支持树莓派Jetson,本工具由作者小鱼提供
  欢迎使用ROS开箱子工具，本工具由[鱼香ROS]小鱼贡献..
  小鱼:检测当前系统ubuntu18.04:bionic 支持一键安装ROS
  =========接下来这一步很重要，如果不知道怎么选请选择1========
  RUN Choose Task:[请输入括号内的数字]
  首次安装一定要换源并清理三方源，换源!!!系统默认国外源容易失败!!
  [1]:更换系统源再继续安装
  [2]:不更换继续安装
  [0]:quit
  请输入[]内的数字以选择:1
  欢迎使用一键换源工具，本工具由[鱼香ROS]小鱼贡献..
  RUN Choose Task:[请输入括号内的数字]
  请选择换源方式,如果不知道选什么请选2
  [1]:仅更换系统源
  [2]:更换系统源并清理第三方源
  [0]:quit
  请输入[]内的数字以选择:2
  Run CMD Task:[sudo rm -rf /etc/apt/sources.list]
  [-]Result:success

  删除一个资源文件
  Run CMD Task:[sudo rm -rf /etc/apt/sources.list.d]
  [-]Result:success

  Run CMD Task:[sudo mkdir -p /etc/apt/sources.list.d]
  [-]Result:success

  Run CMD Task:[dpkg --print-architecture]
  [-]Result:success

  检测到当前系统架构为[amd64:bionic],正在为你更换对应源..
  替换完成，尝试第一次更新....
  Run CMD Task:[sudo apt update]
  [-]Result:success --upgradable’ 来查看它们。

  搞定了,不信你看,累死宝宝了，还不快去给小鱼点个赞~
  ['命中:1 https://mirrors.ustc.edu.cn/ubuntu bionic InRelease', '命中:2 https://mirrors.ustc.edu.cn/ubuntu bionic-updates InRelease', '命中:3 https://mirrors.ustc.edu.cn/ubuntu bionic-backports InRelease', '命中:4 https://mirrors.ustc.edu.cn/ubuntu bionic-security InRelease', '正在读取软件包列表...', '正在分析软件包的依赖关系树...', '正在读取状态信息...', '有 223 个软件包可以升级。请执行 ‘apt list --upgradable’ 来查看它们。']
  镜像修复完成.....
  Run CMD Task:[sudo apt update]
  [-]Result:success --upgradable’ 来查看它们。

  Run CMD Task:[sudo apt-cache search curl ]
  [/]libcurl3-gnutls - easy-to-use client-side URL transfer library (GnuTLS flavou[/]libcurl4-gnutls-dev - development files and documentation for libcurl (GnuTLS[]libcurl4-nss-dev - development files and documentation for libcurl (NSS flavo[|]libcurl4-openssl-dev - development files and documentation for libcurl (OpenS[/]libstrongswan-extra-plugins - strongSwan utility and crypto library (extra pl[-]cl-curry-compose-reader-macros - Reader macros for function partial applicati[-]flickcurl-doc - utilities to call the Flickr API from command line - document[/]gnupg1 - GNU privacy guard - a PGP implementation (deprecated "classic" versi[|]golang-github-moul-http2curl-dev - Go package for convert Golang's http.Reque[|]kubuntu-wallpapers-bionic - Selection of classic KDE wallpapers for Bionic Be[-]libcupt4-2-downloadmethod-curl - flexible package manager -- libcurl download[|]libcurl-openssl1.0-dev - development files and documentation for libcurl (Ope[/]libflickcurl0-dbg - C library for accessing the Flickr API - debugging symbol[|]libghc-curl-doc - Documentation for the libcurl Haskell bindings; documentati[-]libghc-curl-prof - Profiling libraries for the libcurl Haskell bindings; prof[/]libghc-hxt-doc - collection of tools for processing XML with Haskell; documen[|]libghc-hxt-http-doc - Interface to native Haskell HTTP package HTTP; document[-]libghc-hxt-http-prof - Interface to native Haskell HTTP package HTTP; profili[/]libghc-hxt-prof - collection of tools for processing XML with Haskell; profil[]libresource-retriever-dev - Robot OS resource_retriever library - development[|]libwsman-curl-client-transport1 - Open Web Services Manager run-time librarie[-]Result:success age - all developer toolsnt filesMPD

  Run CMD Task:[sudo apt install curl -y]
  [-]Result:code:100

  Run CMD Task:[sudo apt-cache search gnupg2 ]
  [|]gnupg2 - GNU privacy guard - a free PGP replacement (dummy transitional packa[-]Result:success

  Run CMD Task:[sudo apt install gnupg2 -y]
  [-]Result:code:100

  Run CMD Task:[curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -]
  [-]Result:success

  Run CMD Task:[dpkg --print-architecture]
  [-]Result:success

  根据您的系统，为您推荐安装源为['http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/', 'http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/']
  Run CMD Task:[sudo apt update]
  [-]获取:3 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic InRelease [4,68[-]获取:7 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic Release [3,798 B[/]获取:8 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic Release.gpg [833[]获取:9 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu bionic/main amd64 Pack[|]获取:10 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 Pack[-]Result:success --upgradable’ 来查看它们。

  Run CMD Task:[sudo apt-cache search ros-base ]
  [/]ros-melodic-end-effector - End-Effector package: provides a ROS-based set of []ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, dynamic reconfigure, nodelets, and plugi[|]ros-bouncy-ros-base - A package which extends 'ros_core' and includes other b[-]ros-crystal-ros-base - A package which extends 'ros_core' and includes other [/]ros-dashing-ros-base - A package which extends 'ros_core' and includes other []ros-eloquent-ros-base - A package which extends 'ros_core' and includes other[-]Result:success

  恭喜，成功添加ROS源，接下来可以使用apt安装ROS或者使用[1]一键安装ROS安装！
  Run CMD Task:[sudo apt-cache search ros-base ]
  [/]ros-melodic-end-effector - End-Effector package: provides a ROS-based set of []ros-melodic-ros-base - A metapackage which extends ros_core and includes other basic non-robot tools like actionlib, dynamic reconfigure, nodelets, and plugi[|]ros-bouncy-ros-base - A package which extends 'ros_core' and includes other b[-]ros-crystal-ros-base - A package which extends 'ros_core' and includes other [/]ros-dashing-ros-base - A package which extends 'ros_core' and includes other []ros-eloquent-ros-base - A package which extends 'ros_core' and includes other[-]Result:success

  RUN Choose Task:[请输入括号内的数字]
  请选择你要安装的ROS版本名称(请注意ROS1和ROS2区别):
  [1]:melodic(ROS1)
  [2]:bouncy(ROS2)
  [3]:crystal(ROS2)
  [4]:dashing(ROS2)
  [5]:eloquent(ROS2)
  [0]:quit
  请输入[]内的数字以选择:1
  RUN Choose Task:[请输入括号内的数字]
  请选择安装的具体版本(如果不知道怎么选,请选1桌面版):
  [1]:melodic(ROS1)桌面版
  [2]:melodic(ROS1)基础版(小)
  [0]:quit
  请输入[]内的数字以选择:1
  Run CMD Task:[sudo apt-cache search aptitude ]
  [|]aptitude-common - architecture independent files for the aptitude package man[-]aptitude-doc-en - English manual for aptitude, a terminal-based package manag[/]libcwidget-dev - high-level terminal interface library for C++ (development f[|]aptitude-doc-es - Spanish manual for aptitude, a terminal-based package manag[-]aptitude-doc-fi - Finnish manual for aptitude, a terminal-based package manag[/]aptitude-doc-fr - French manual for aptitude, a terminal-based package manage[]aptitude-doc-it - Italian manual for aptitude, a terminal-based package manag[|]aptitude-doc-ja - Japanese manual for aptitude, a terminal-based package mana[/]aptitude-doc-ru - Russian manual for aptitude, a terminal-based package manag[-]apticron-systemd - Simple tool to mail about pending package updates - system[-]gbrainy - brain teaser game and trainer to have fun and to keep your brain tr[-]Result:success end for Debian

  Run CMD Task:[sudo apt install aptitude -y]
  [-]Result:code:100

  Run CMD Task:[sudo apt-cache search aptitude ]
  [|]aptitude-common - architecture independent files for the aptitude package man[-]aptitude-doc-en - English manual for aptitude, a terminal-based package manag[/]libcwidget-dev - high-level terminal interface library for C++ (development f[|]aptitude-doc-es - Spanish manual for aptitude, a terminal-based package manag[-]aptitude-doc-fi - Finnish manual for aptitude, a terminal-based package manag[/]aptitude-doc-fr - French manual for aptitude, a terminal-based package manage[]aptitude-doc-it - Italian manual for aptitude, a terminal-based package manag[|]aptitude-doc-ja - Japanese manual for aptitude, a terminal-based package mana[/]aptitude-doc-ru - Russian manual for aptitude, a terminal-based package manag[-]apticron-systemd - Simple tool to mail about pending package updates - system[-]gbrainy - brain teaser game and trainer to have fun and to keep your brain tr[-]Result:success end for Debian

  Run CMD Task:[sudo apt install aptitude -y]
  [-]Result:code:100

  Run CMD Task:[sudo apt install ros-melodic-desktop-full -y]
  E: dpkg 被中断，您必须手工运行 ‘sudo dpkg --configure -a’ 解决此问题。
  Run CMD Task:[sudo apt install ros-melodic-desktop-full -y]
  [-]Result:code:100

  Run CMD Task:[sudo apt-cache search python-catkin-tools ]
  [-]Result:success for working with catkin.

  Run CMD Task:[sudo apt install python-catkin-tools -y]
  [-]Result:code:100

  Run CMD Task:[sudo apt-cache search python-rosdep ]
  []python-rosdep2 - rosdep package manager abstraction tool for Robot OS (Python[-]Result:success nager abstraction tool for ROS

  Run CMD Task:[sudo apt install python-rosdep -y]
  [-]Result:code:100

  Run CMD Task:[ls /opt/ros/melodic/setup.bash]
  [-]Result:code:2

  安装失败了,请打开鱼香社区：https://fishros.org.cn/forum 在一键安装专区反馈问题...
  Run CMD Task:[ls /opt/ros/melodic/setup.bash]
  [-]Result:code:2

  欢迎加入机器人学习交流QQ群：686914208(入群口令：一键安装)
  如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈
  clj@clj-HP-Pavilion-Laptop-14-ce1xxx:~$

• 文档资料

  收集的各种机器人相关学习资料

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  @nft_2005 重启电脑/虚拟机基本能解决