ROS2 操作系统

sudo apt update
sudo apt install -y git python3-colcon-common-extensions python3-rosdep python3-vcstool build-essential wget curl

sudo rosdep init

sudo apt update

mkdir -p ros2_humble_src
cd ros2_humble_src
wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos

lxg@lxg:~/code/ROS2/ros2_humble_src$ mkdir src
lxg@lxg:~/code/ROS2/ros2_humble_src$ vcs import src < ros2.repos

lxg@lxg:~/code/ROS2/ros2_humble_src/src/ros2$ ros2 run turtlesim turtlesim_node
[INFO] [1778826303.327602528] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [1778826303.331715999] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

lxg@lxg:~$ ros2 node info /turtlesim
/turtlesim
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /turtle1/cmd_vel: geometry_msgs/msg/Twist
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /turtle1/color_sensor: turtlesim/msg/Color
    /turtle1/pose: turtlesim/msg/Pose
  Service Servers:
    /clear: std_srvs/srv/Empty
    /kill: turtlesim/srv/Kill
    /reset: std_srvs/srv/Empty
    /spawn: turtlesim/srv/Spawn
    /turtle1/set_pen: turtlesim/srv/SetPen
    /turtle1/teleport_absolute: turtlesim/srv/TeleportAbsolute
    /turtle1/teleport_relative: turtlesim/srv/TeleportRelative
    /turtlesim/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /turtlesim/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /turtlesim/get_parameters: rcl_interfaces/srv/GetParameters
    /turtlesim/list_parameters: rcl_interfaces/srv/ListParameters
    /turtlesim/set_parameters: rcl_interfaces/srv/SetParameters
    /turtlesim/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:
    /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute
  Action Clients:

lxg@lxg:~$ ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose


lxg@lxg:~$ ros2 topic list -t
/parameter_events [rcl_interfaces/msg/ParameterEvent]
/rosout [rcl_interfaces/msg/Log]
/turtle1/cmd_vel [geometry_msgs/msg/Twist]
/turtle1/color_sensor [turtlesim/msg/Color]
/turtle1/pose [turtlesim/msg/Pose]

lxg@lxg:~$ ros2 topic info /turtle1/cmd_vel
Type: geometry_msgs/msg/Twist
Publisher count: 1
Subscription count: 2

lxg@lxg:~$ ros2 interface show geometry_msgs/msg/Twist
# This expresses velocity in free space broken into its linear and angular parts.

Vector3  linear
	float64 x
	float64 y
	float64 z
Vector3  angular
	float64 x
	float64 y
	float64 z
	
# 比如数据

lxg@lxg:~$ ros2 topic echo /turtle1/cmd_vel
linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: -2.0

lxg@lxg:~$ ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8))

/clear                        # 清空画布（乌龟留下的轨迹）
/kill                         # 杀死（关闭）节点或乌龟
/reset                        # 重置 turtlesim 窗口和乌龟状态

# rqt GUI 节点相关参数服务
/rqt_gui_py_node_30675/describe_parameters        # 描述 rqt 节点的参数信息
/rqt_gui_py_node_30675/get_parameter_types        # 获取 rqt 节点参数类型
/rqt_gui_py_node_30675/get_parameters             # 获取 rqt 节点当前参数值
/rqt_gui_py_node_30675/list_parameters            # 列出 rqt 节点所有参数名
/rqt_gui_py_node_30675/set_parameters             # 设置 rqt 节点参数值
/rqt_gui_py_node_30675/set_parameters_atomically  # 原子方式批量设置参数（一次性修改多个参数）

/spawn                        # 在画布上生成新的乌龟
/teleop_turtle/describe_parameters        # 描述 teleop_turtle 节点参数信息
/teleop_turtle/get_parameter_types        # 获取 teleop_turtle 节点参数类型
/teleop_turtle/get_parameters             # 获取 teleop_turtle 节点当前参数值
/teleop_turtle/list_parameters            # 列出 teleop_turtle 节点所有参数名
/teleop_turtle/set_parameters             # 设置 teleop_turtle 节点参数值
/teleop_turtle/set_parameters_atomically  # 原子方式批量设置参数

/turtle1/set_pen                 # 设置乌龟画笔属性（颜色、粗细、是否画线）
/turtle1/teleport_absolute       # 将乌龟瞬间移动到指定绝对位置（x, y, 角度） 
/turtle1/teleport_relative       # 将乌龟相对当前位置移动（dx, dy, dtheta）

# turtlesim 节点本身参数服务
/turtlesim/describe_parameters        # 描述 turtlesim 节点参数信息
/turtlesim/get_parameter_types        # 获取 turtlesim 节点参数类型
/turtlesim/get_parameters             # 获取 turtlesim 节点当前参数值
/turtlesim/list_parameters            # 列出 turtlesim 节点所有参数名
/turtlesim/set_parameters             # 设置 turtlesim 节点参数值
/turtlesim/set_parameters_atomically  # 原子方式批量设置参数

/clear [std_srvs/srv/Empty]
/kill [turtlesim/srv/Kill]
/reset [std_srvs/srv/Empty]
/rqt_gui_py_node_30675/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/rqt_gui_py_node_30675/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/rqt_gui_py_node_30675/get_parameters [rcl_interfaces/srv/GetParameters]
/rqt_gui_py_node_30675/list_parameters [rcl_interfaces/srv/ListParameters]
/rqt_gui_py_node_30675/set_parameters [rcl_interfaces/srv/SetParameters]
/rqt_gui_py_node_30675/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/spawn [turtlesim/srv/Spawn]
/teleop_turtle/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/teleop_turtle/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/teleop_turtle/get_parameters [rcl_interfaces/srv/GetParameters]
/teleop_turtle/list_parameters [rcl_interfaces/srv/ListParameters]
/teleop_turtle/set_parameters [rcl_interfaces/srv/SetParameters]
/teleop_turtle/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtle1/set_pen [turtlesim/srv/SetPen]
/turtle1/teleport_absolute [turtlesim/srv/TeleportAbsolute]
/turtle1/teleport_relative [turtlesim/srv/TeleportRelative]
/turtlesim/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlesim/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlesim/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlesim/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlesim/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlesim/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]

lxg@lxg:~$ ros2 service call /clear std_srvs/srv/Empty
waiting for service to become available...
requester: making request: std_srvs.srv.Empty_Request()

response:
std_srvs.srv.Empty_Response()

lxg@lxg:~$ ros2 service call /spawn turtlesim/srv/Spawn "{x: 5.0, y: 5.0, theta: 0.0, name: 'turtle2'}"
requester: making request: turtlesim.srv.Spawn_Request(x=5.0, y=5.0, theta=0.0, name='turtle2')

response:
turtlesim.srv.Spawn_Response(name='turtle2')

lxg@lxg:~$ ros2 param get /turtlesim background_g
Integer value is: 86

lxg@lxg:~$ ros2 param dump /turtlesim
/turtlesim:
  ros__parameters:
    background_b: 255
    background_g: 86
    background_r: 69
    qos_overrides:
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    use_sim_time: false

lxg@lxg:~$ ros2 action list -t
/turtle1/rotate_absolute [turtlesim/action/RotateAbsolute]
/turtle2/rotate_absolute [turtlesim/action/RotateAbsolute]

lxg@lxg:~$ ros2 action info /turtle1/rotate_absolute
Action: /turtle1/rotate_absolute
Action clients: 1
    /teleop_turtle
Action servers: 1
    /turtlesim

lxg@lxg:~$ ros2 interface show turtlesim/action/RotateAbsolute
# The desired heading in radians
float32 theta
---
# The angular displacement in radians to the starting position
float32 delta
---
# The remaining rotation in radians
float32 remaining

lxg@lxg:~$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.8}"
Waiting for an action server to become available...
Sending goal:
     theta: 1.8

Goal accepted with ID: cc8f070ce2cc4b3391d433e7e83b4ea9

Result:
    delta: -0.23999999463558197

Goal finished with status: SUCCEEDED

lxg@lxg:~/code$ ros2 launch turtlesim multisim.launch.py
[INFO] [launch]: All log files can be found below /home/lxg/.ros/log/2026-05-20-10-16-46-678238-lxg-22465
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [turtlesim_node-1]: process started with pid [22466]
[INFO] [turtlesim_node-2]: process started with pid [22468]
[turtlesim_node-1] [INFO] [1779243406.798682692] [turtlesim1.turtlesim]: Starting turtlesim with node name /turtlesim1/turtlesim
[turtlesim_node-2] [INFO] [1779243406.800051012] [turtlesim2.turtlesim]: Starting turtlesim with node name /turtlesim2/turtlesim
[turtlesim_node-1] [INFO] [1779243406.802196952] [turtlesim1.turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
[turtlesim_node-2] [INFO] [1779243406.803346524] [turtlesim2.turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

lxg@lxg:~$ ros2 bag record /turtle1/cmd_vel
[INFO] [1779244951.159904620] [rosbag2_recorder]: Press SPACE for pausing/resuming
[INFO] [1779244951.161440230] [rosbag2_storage]: Opened database 'rosbag2_2026_05_20-10_42_31/rosbag2_2026_05_20-10_42_31_0.db3' for READ_WRITE.
[INFO] [1779244951.164046473] [rosbag2_recorder]: Listening for topics...
[INFO] [1779244951.164059667] [rosbag2_recorder]: Event publisher thread: Starting
[INFO] [1779244951.165069886] [rosbag2_recorder]: Subscribed to topic '/turtle1/cmd_vel'
[INFO] [1779244951.165116874] [rosbag2_recorder]: Recording...
[INFO] [1779244951.165238281] [rosbag2_recorder]: All requested topics are subscribed. Stopping discovery...
[INFO] [1779245110.346958634] [rosbag2_cpp]: Writing remaining messages from cache to the bag. It may take a while
[INFO] [1779245110.347670065] [rosbag2_recorder]: Event publisher thread: Exiting
[INFO] [1779245110.347746548] [rosbag2_recorder]: Recording stopped

lxg@lxg:~/code/ROS2/workspace/demo/src$ ros2 pkg create --build-type ament_cmake --node-name my_node my_package

lxg@lxg:~/code/ROS2/workspace/demo/src$ tree 
.
└── my_package
    ├── CMakeLists.txt
    ├── include
    │   └── my_package
    ├── package.xml
    └── src
        └── my_node.cpp

4 directories, 3 files

lxg@lxg:~/code/ROS2/workspace/demo$ colcon build
Starting >>> my_package
Finished <<< my_package [0.30s]

Summary: 1 package finished [0.51s]


lxg@lxg:~/code/ROS2/workspace/demo$ tree -L 2
.
├── build
│   ├── COLCON_IGNORE
│   └── my_package
├── install
│   ├── COLCON_IGNORE
│   ├── local_setup.bash
│   ├── local_setup.ps1
│   ├── local_setup.sh
│   ├── _local_setup_util_ps1.py
│   ├── _local_setup_util_sh.py
│   ├── local_setup.zsh
│   ├── my_package
│   ├── setup.bash
│   ├── setup.ps1
│   ├── setup.sh
│   └── setup.zsh
├── log
│   ├── build_2026-05-21_14-03-15
│   ├── build_2026-05-21_14-05-41
│   ├── build_2026-05-21_14-05-53
│   ├── COLCON_IGNORE
│   ├── latest -> latest_build
│   └── latest_build -> build_2026-05-21_14-05-53
└── src
    └── my_package

12 directories, 13 files

lxg@lxg:~/code/ROS2/workspace/demo$ pip install colcon-clean

# 清理整个工作区
lxg@lxg:~/code/ROS2/workspace/demo$ colcon clean workspace

lxg@lxg:~/code/ROS2/workspace/demo$ colcon clean packages --packages-select cpp_pubsub py_pubsub

lxg@lxg:~/code/ROS2/workspace/demo$ . install/setup.bash
lxg@lxg:~/code/ROS2/workspace/demo$ ros2 pkg list | grep my_
dummy_map_server
dummy_robot_bringup
dummy_sensors
my_package

lxg@lxg:~/code/ROS2/workspace/demo$ ros2 run my_package my_node
hello world my_package package

lxg@lxg:~/code/ROS2/workspace/demo$ colcon build --packages-select cpp_pubsub
Starting >>> cpp_pubsub
Finished <<< cpp_pubsub [5.82s]

Summary: 1 package finished [6.06s]

lxg@lxg:~/code/ROS2/workspace/demo$ ros2 run cpp_pubsub talker
[INFO] [1779515600.899402768] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1779515601.399743017] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1779515601.899302197] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1779515602.399235189] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1779515602.899153936] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [1779515603.399082279] [minimal_publisher]: Publishing: 'Hello, world! 5'
[INFO] [1779515603.899026368] [minimal_publisher]: Publishing: 'Hello, world! 6'
[INFO] [1779515604.398919740] [minimal_publisher]: Publishing: 'Hello, world! 7'

lxg@lxg:~/code/ROS2/workspace/demo$ . install/setup.sh
lxg@lxg:~/code/ROS2/workspace/demo$ ros2 run cpp_pubsub listener
[INFO] [1779515641.894192802] [minimal_subscriber]: I heard: 'Hello, world! 82'
[INFO] [1779515642.394169017] [minimal_subscriber]: I heard: 'Hello, world! 83'
[INFO] [1779515642.894011440] [minimal_subscriber]: I heard: 'Hello, world! 84'
[INFO] [1779515643.394162922] [minimal_subscriber]: I heard: 'Hello, world! 85'
[INFO] [1779515643.893860575] [minimal_subscriber]: I heard: 'Hello, world! 86'
[INFO] [1779515644.393901193] [minimal_subscriber]: I heard: 'Hello, world! 87'
[INFO] [1779515644.893725074] [minimal_subscriber]: I heard: 'Hello, world! 88'
[INFO] [1779515645.393865065] [minimal_subscriber]: I heard: 'Hello, world! 89'