转战ros2 humble版本机器人底盘开发记录

[毛哥成山轮胎机油保养]

foxy版本是20年ros2版本，官方快不维护了，所以转到humble版本，以前的都要推倒重来了。
顺便把每一步记录一下，方便自己以后查询，也给后来者有个参考。
做好车，开始出发

win10 安装utuntu20.04虚拟机大概一个小时，安装方法参考鱼总教程。

在虚拟机中安装Ubuntu

一键安装ROS2

一键安装，解决所有烦恼 终端输入命令：

wget http://fishros.com/install -O fishros && . fishros

humble安装成功，用的鱼总的一键安装，大概需要十几分钟。经典话题，你说我听运行成功，说明安装humble一切正常。

一键安装vscode
安装python c++ xml 插件
安装最重要的一个ssh插件Remote SSH，用于远程登陆主机，远程编写程序，vscode这个远程连接服务器比终端ssh远程登陆好用的不是一点点

[剑心]

插眼，正在学习中，后续有动手动额打算。先看你踩坑，感谢先人

[毛哥成山轮胎机油保养]

机器人urdf模型目录结构：

jtbot_base.urdf

<?xml version="1.0"?>
<robot name="jtbot">
    <!-- base link -->
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0.0" rpy="0 0 0"/>
            <geometry>
                <box size="0.46 0.46 0.11"/>
            </geometry>
            <material name="blue">
                <color rgba="0.1 0.1 1.0 0.8" />
            </material>
        </visual>
    </link>
    <!-- laser link -->
    <link name="laser">
        <visual>
            <origin xyz="0 0 0" rpy="0 3.14159 0"/>
            <geometry>
                <cylinder length="0.04" radius="0.04"/>
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.8" />
            </material>
        </visual>
    </link>
    <!-- laser joint -->
    <joint name="laser_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser" />
        <origin xyz="0.16 0 0.115" />
    </joint>
    <link name="imu_link">
        <visual>
            <origin xyz="0 0 0.0" rpy="0 0 0"/>
            <geometry>
                <box size="0.02 0.02 0.02"/>
            </geometry>
        </visual>
    </link>
    <!-- imu joint -->
    <joint name="imu_joint" type="fixed">
        <parent link="base_link" />
        <child link="imu_link" />
        <origin xyz="0 0 0.02" />
    </joint>
    <link name="right_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.57079 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.077"/>
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.5" />
            </material>
        </visual>
    </link>
    <joint name="right_wheel_joint" type="continuous">
        <parent link="base_link" />
        <child link="right_wheel_link" />
        <origin xyz="0.143 -0.28 -0.055" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="left_wheel_link">
        <visual>
            <origin xyz="0 0 0" rpy="1.57079 0 0"/>
            <geometry>
                <cylinder length="0.06" radius="0.077"/>
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.5" />
            </material>
        </visual>
    </link>
    <joint name="left_wheel_joint" type="continuous">
        <parent link="base_link" />
        <child link="left_wheel_link" />
        <origin xyz="0.143 0.28 -0.055" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="caster_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.074"/>
            </geometry>
            <material name="black">
                <color rgba="0.0 0.0 0.0 0.5" />
            </material>
        </visual>
    </link>
    <joint name="caster_joint" type="fixed">
        <parent link="base_link" />
        <child link="caster_link" />
        <origin xyz="-0.15 0.0 -0.107" />
    </joint>
    <!-- Robot Footprint -->
    <link name="base_footprint"/>
    <joint name="base_joint" type="fixed">
        <parent link="base_footprint"/>
        <child link="base_link"/>
        <origin xyz="0.0 0.0 0.076" rpy="0 0 0"/>
    </joint>
</robot>

display_rviz2.launch.py

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    package_name = 'jtbot_description'
    urdf_name = "jtbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path]
        )

    joint_state_publisher_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        arguments=[urdf_model_path]
        )

    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        )

    ld.add_action(robot_state_publisher_node)
    ld.add_action(joint_state_publisher_node)
    ld.add_action(rviz2_node)

    return ld

setup.py

from setuptools import setup
from glob import glob
import os

package_name = 'jtbot_description'

setup(
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
        (os.path.join('share', package_name, 'urdf'), glob('urdf/**')),
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='root',
    maintainer_email='330406269@qq.com',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
        ],
    },
)

编译

 colcon build

Starting >>> jtbot_description
--- stderr: jtbot_description
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(

Finished <<< jtbot_description [2.00s]

Summary: 1 package finished [2.28s]
1 package had stderr output: jtbot_description

显示编译没有通过，但是模型能正常加载出来，这是哪里不对呢？

为什么编译没有通过，但是模型加载正常，懂得给指点一下哪里设置的不对？

[小鱼]

@毛哥成山轮胎机油保养 这个显示是编译通过了其实，另外一个小bug见这里

@小鱼 在 [常见问题]Colcon编译 Setuptools DeprecationWarning: setup.py install is deprecated. 中说：

该问题是使用Colcon编译Python功能包出现的。
--- stderr: example_parameters_rclpy
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(

解决方案如下：
sudo pip install setuptools==58.2.0 --upgrade

[毛哥成山轮胎机油保养]

@小鱼 还真是管用，编译通过了