fix：新增例程

基础编程/e6.ROS环境下python测试实验/RosSwitch.bat

@@ -0,0 +1,16 @@
+@echo off
+wsl -d RflySim-20.04 -e bash -lic "echo Current version is ROS$ROS_VERSION"
+
+SET /P ROSVer=New ROS Version 1 or 2:
+if %ROSVer% EQU 1 (
+    ECHO Switch to ROS1
+    wsl -d RflySim-20.04 ~/ros_switch.sh 1
+
+) ELSE (
+    ECHO Switch to ROS2  
+    wsl -d RflySim-20.04 ~/ros_switch.sh 2
+)
+wsl --shutdown
+ECHO Successful.
+ECHO Press any key to exit.
+pause

基础编程/e6.ROS环境下python测试实验/WinWSL.bat

@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+

基础编程/e6.ROS环境下python测试实验/WslGUI.bat

@@ -0,0 +1,21 @@
+@echo off
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+
+cd /d %PSP_PATH%\VcXsrv
+Xlaunch.exe -run config.xlaunch
+
+choice /t 1 /d y /n >nul
+
+cd /d %~dp0
+wsl -d RflySim-20.04 ~/StartUI.sh
+choice /t 1 /d y /n >nul
+tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"
+wsl --shutdown

基础编程/e6.ROS环境下python测试实验/code/hello.cpp

@@ -0,0 +1,13 @@
+#include "ros/ros.h"
+
+int main(int argc, char *argv[])
+{
+    //执行 ros 节点初始化
+    ros::init(argc,argv,"hello");
+    //创建 ros 节点句柄(非必须)
+    ros::NodeHandle n;
+   
+    ROS_INFO("hello SLAm!");
+
+    return 0;
+}

基础编程/e6.ROS环境下python测试实验/code/listener.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+
+import rospy  
+from std_msgs.msg import String
+
+def callback(data):  
+    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
+
+def listener():
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("chatter", String, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

基础编程/e6.ROS环境下python测试实验/code/talker.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world %s" % rospy.get_time()
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:  
+        talker()  
+    except rospy.ROSInterruptException:
+        pass

基础编程/e6.ROS环境下python测试实验/install-ROS-ubuntu.sh

@@ -0,0 +1,225 @@
+#!/usr/bin/env bash
+echo "---------- $0 start ----------"
+set -e
+# set -x
+
+ROS_WS_ROOT=$HOME/ardupilot-ws
+AP_GZ_ROOT=$HOME/ardupilot_gz_ws
+
+red=`tput setaf 1`
+green=`tput setaf 2`
+reset=`tput sgr0`
+
+sep="##############################################"
+
+
+function heading() {
+    echo "$sep"
+    echo $*
+    echo "$sep"
+}
+
+ASSUME_YES=false
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+function usage
+{
+    echo "Usage: ./installROS.sh [[-p package] | [-h]]"
+    echo "Install ROS1"
+    echo "This script will select the ROS distribution according to the OS being used"
+    echo "Installs desktop-full as default base package; Use -p to override"
+    echo "-p | --package <packagename>  ROS package to install"
+    echo "                              Multiple usage allowed"
+    echo "                              Must include one of the following:"
+    echo "                               ros-base"
+    echo "                               desktop"
+    echo "                               desktop-full"
+    echo "-h | --help  This message"
+}
+
+function shouldInstallPackages
+{
+    echo "${red}Your package list did not include a recommended base package${reset}"
+    echo "Please include one of the following:"
+    echo "   ros-base"
+    echo "   desktop"
+    echo "   desktop-full"
+    echo ""
+    echo "ROS not installed"
+}
+
+function package_is_installed() {
+    dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
+}
+
+# Iterate through command line inputs
+packages=()
+while [ "$1" != "" ]; do
+    case $1 in
+        -p | --package )        shift
+                                packages+=("$1")
+                                ;;
+        -h | --help )           usage
+                                exit
+                                ;;
+        * )                     usage
+                                exit 1
+    esac
+    shift
+done
+
+# Install lsb-release as it is needed to check Ubuntu version
+if ! package_is_installed "lsb-release"; then
+    heading "Installing lsb-release"
+    sudo apt install lsb-release -y
+    echo "Done!"
+fi
+
+# Checking Ubuntu release to adapt software version to install
+RELEASE_CODENAME=$(lsb_release -c -s)
+PYTHON_V="python3"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
+
+
+# echo $RELEASE_CODENAME
+
+if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
+    #Ubuntu 18.04 - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected Ubuntu 18.04, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'buster' ]; then
+    #RPi Buster - Melodic
+    ROS_VERSION="melodic"
+    PYTHON_V="python2"
+    heading "${green}Detected RPi Buster, installing ROS Melodic${reset}"
+elif [ ${RELEASE_CODENAME} == 'focal' ]; then
+    #Ubuntu 20.04 - Noetic
+    ROS_VERSION="noetic"
+    PYTHON_V="python3"
+    heading "${green}Detected Ubuntu 20.04, installing ROS Noetic${reset}"
+elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
+    #Ubuntu 22.04 - unsupported only ROS2
+    heading "${red}Currently only ROS1 is supported. This Ubuntu release can only be used with ROS2.${reset}"
+    exit 1
+else
+    # We assume an unsupported OS is being used.
+    heading "${red}Unsupported OS detected. Please refer to the ROS webpage to find how to install ROS1 on your system if at all possible.${reset}"
+    exit 1
+fi
+
+# Check to see if other packages were specified
+# If not, set the default base package
+if [ ${#packages[@]}  -eq 0 ] ; then
+ packages+="desktop-full"
+fi
+echo "Packages to install: "${packages[@]}
+# Check to see if we have a ROS base kinda thingie
+hasBasePackage=false
+for package in "${packages[@]}"; do
+  if [[ $package == "ros-base" ]]; then
+     delete=ros-base
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-ros-base"
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop" ]]; then
+     delete=desktop
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop"    
+     hasBasePackage=true
+     break
+  elif [[ $package == "desktop-full" ]]; then
+     delete=desktop-full
+     packages=( "${packages[@]/$delete}" )
+     packages+=" ros-${ROS_VERSION}-desktop-full"    
+     hasBasePackage=true
+     break
+  fi
+done
+if [ $hasBasePackage == false ] ; then
+   shouldInstallPackages
+   exit 1
+fi
+
+heading "${green}Adding Repositories and source lists${reset}"
+#Lets start instaling stuff
+sudo apt install software-properties-common -y
+sudo apt-add-repository universe
+sudo apt-add-repository multiverse
+sudo apt-add-repository restricted
+
+# Setup sources.lst
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+# Setup keys
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# If you experience issues connecting to the keyserver, you can try substituting hkp://pgp.mit.edu:80 or hkp://keyserver.ubuntu.com:80 in the previous command.
+# Installation
+
+heading "${green}Updating apt${reset}"
+sudo apt update
+
+heading "${green}Installing ROS${reset}"
+# Here we loop through any packages passed on the command line
+# Install packages ...
+for package in "${packages[@]}"; do
+  sudo apt install $package -y
+done
+
+# install other needed packages
+sudo apt install build-essential cmake -y
+
+#
+# To find available packages:
+# apt-cache search ros-melodic
+# 
+# Initialize rosdep
+
+heading "${green}Installing rosdep${reset}"
+
+sudo apt install ${PYTHON_V}-rosdep -y
+# Certificates are messed up on earlier version Jetson for some reason
+# Do not know if it is an issue with the Xavier, test by commenting out
+# sudo c_rehash /etc/ssl/certs
+# Initialize rosdep
+
+heading "${green}Initializaing rosdep${reset}"
+
+sudo rosdep init || true
+# To find available packages, use:
+rosdep update
+# Use this to install dependencies of packages in a workspace
+# rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+# Environment Setup - Don't add /opt/ros/${ROS_VERSION}/setup.bash if it's already in bashrc
+# if maybe_prompt_user "Do you want to add ROS_HOSTNAME and ROS_MASTER_URI to your .bashrc [N/y]?" ; then
+#     heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
+#     grep -q -F "ROS_HOSTNAME=$HOSTNAME.local" ~/.bashrc || echo "ROS_HOSTNAME=$HOSTNAME.local" >> ~/.bashrc
+#     grep -q -F "ROS_MASTER_URI=http://$HOSTNAME.local:11311" ~/.bashrc || echo "ROS_MASTER_URI=http://$HOSTNAME.local:11311" >> ~/.bashrc
+#     grep -q -F "source /opt/ros/${ROS_VERSION}/setup.bash" ~/.bashrc || echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
+#     source ~/.bashrc
+# fi
+
+heading "${green}Installing rosinstall tools${reset}"
+
+sudo apt install ${PYTHON_V}-rosinstall ${PYTHON_V}-rosinstall-generator ${PYTHON_V}-wstool ${PYTHON_V}-catkin-tools -y
+
+pip3 install rospkg
+pip3 install catkin-tools
+pip3 install roslibpy
+
+# 安装必要的库
+pip3 install open3d==0.10.0 mavsdk==1.2.0
+
+# 安装其他必要库
+sudo apt install libgoogle-glog-dev

基础编程/e6.ROS环境下python测试实验/测试方法.txt

@@ -0,0 +1,27 @@
+0.运行Desktop\RflyTools\RosSwitch快捷方式或本文件夹“RosSwitch.bat”
+确认当前ROS环境，如果不是ROS1，则切换到ROS1
+
+一、ROS1程序调控
+1. 运行Desktop\RflyTools\WslGUI快捷方式或文件夹“WslGUI.bat”，打开一个GUI窗口。
+2. 在其中，按下CTRL+ALT+T的快捷键，打开一个终端。输入
+roscore
+来启动ROS Master
+3. 按下CTRL+ALT+T的快捷键，打开一个新终端。输入
+rosrun turtlesim turtlesim_node
+来启动小海龟仿真器
+4. 按下CTRL+ALT+T的快捷键，打开一个新终端。输入
+rosrun turtlesim turtle_teleop_key
+启动海龟键盘控制节点
+5. 通过键盘方向键，就能控制海龟运动了。
+其中上下键，控制前进。
+左右键控制方向。
+
+注：第一句指令将启动一个蓝色背景的海龟仿真器，第二句指令将启动一个键盘控制节点，在该终端中点击键盘上的“上下左右”按键，就可以控制小海龟运动了。
+
+
+二、ROS1环境部署
+1. 找一台Ubuntu电脑或者虚拟机。
+2. 拷贝install-ROS-ubuntu.sh到系统中，并运行，就能自动部署环境。
+3. 加载ROS1环境，输入如下命令即可
+source /opt/ros/noetic/setup.bash
+4. 按“一、ROS1程序调控”中的步骤，测试ROS环境是否安装正确。