HeRo ROS开发环境配置

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HeRo ROS开发环境配置

2025-09-01

ROS

安装 ROS#

[ROS1 on Ubuntu 22.04] 在Ubuntu 22.04直接使用ROS1的新方案

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sudo add-apt-repository ppa:ros-for-jammy/noetic
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sudo apt update
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sudo apt install ros-noetic-desktop-full

配置 HeRo 开发环境#

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cd ~/catkin_ws/src
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git clone --depth 1 --branch noetic-devel https://github.com/verlab/hero_common.git # select your ROS distro

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cd ..
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rosdep install --from-paths src/hero_common --ignore-src -r -y

报错：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
hero_common: Cannot locate rosdep definition for [usb_cam]
hero_bringup: Cannot locate rosdep definition for [rosserial_python]
hero_ar_tracker: Cannot locate rosdep definition for [usb_cam]
hero_gazebo: Cannot locate rosdep definition for [python-pyqt5]
hero_firmware: Cannot locate rosdep definition for [teleop_twist_keyboard]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

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cd ~/catkin_ws/src
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git clone https://github.com/ros-drivers/rosserial.git -b noetic-devel
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git clone https://github.com/ros-perception/image_common.git -b noetic-devel
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git clone https://github.com/ros-drivers/usb_cam.git -b develop
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git clone https://github.com/ros-teleop/teleop_twist_keyboard.git
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git clone https://github.com/ros/urdf_parser_py.git -b melodic-devel

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cd ~/catkin_ws
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catkin_make # or catkin build

Command 'catkin_make' not found, but can be installed with:
sudo apt install catkin

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source /opt/ros/noetic/setup.sh

-- Checking for module 'libv4l2'
--   No package 'libv4l2' found

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sudo apt install libv4l2-dev
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# sudo apt install libv4l-dev

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source devel/setup.bash # Set the appropriate bash extension
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roslaunch hero_bringup hero_bringup.launch

测试 HeRo#

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cd ~/catkin_ws
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source devel/setup.bash # Set the appropriate bash extension
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roslaunch hero_bringup hero_bringup.launch
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roslaunch hero_bringup hero_teleop.launch id:=0