[ROS / catkins-tools] catkin-tools 환경설정 세팅

1.설치

$ sudo apt install python3-osrf-pycommon

$ sudo apt install python3-catkin-tools

2. work space 폴더 생성

$ cd

$ mkdir -p ~/catkin_ws/src

3. catkin init & catkin build

$ cd catkin_ws

만약, 다른 폴더에서 catkin init을 했을시, 

$ catkin clean --deinit

위 코드를 해당 폴더에서 실행시켜서 초기화 해준 후 아래 코드를 "catkin_ws" 폴더로 이동 후 실행한다.

출처 - https://answers.ros.org/question/66012/removing-catkin-workspace/ 

$ catkin init

$ catkin build

4. 패키지 생성

$ cd catkin_ws

$ catkin create pkg hello_world --catkin-deps std_msgs rosp

5. VSCode 환경설정

hello_world 폴더로 이동 후 VSCode 실행

$ cd ~/catkin_ws/src/hello_world/
$ code .

scripts 폴더 생성 후 이 폴더 내에서

print_turtle_pos.py 파일 생성

#!/usr/bin/env python

import rospy
from turtlesim.msg import Pose

def callback(data):
    rospy.loginfo("Turtle Pose X : %s, Y : %s", data.x, data.y)

def print_turtle_pos():
    rospy.init_node('print_turtle_pos', anonymous=False)

    rospy.Subscriber("/turtle1/pose", Pose, callback)
    rospy.spin()

if __name__ == "__main__":
    print_turtle_pos()

맨위에

#!/usr/bin/env python 를 꼭 넣어준다.

ROS가 실행 시 python 환경을 지정하는 명령어이다.

6. print_turtle_pos.py 파일 실행 권한 부여.

$ cd ~/catkin_ws/src/hello_world/scripts
$ chmod +x print_turtle_pos.py

7. 패키지 빌드

$ cd ~/catkin_ws
$ catkin build hello_world

8. 패키지 인식 확인

$ cd ~/catkin_ws
$ roscd he

he 까지 입력하고 <TAB>을 눌러서 자동완성이 되는지 확인한다.

자동완성이 안된다면 패키지 인식이 안된 것이고 다음 단계를 실행한다.

9. 패키지 인식 방법

$ cd #홈으로 이동
$ nano ~/.bashrc

nano ~/.bashrc 설정 화면

# ROS1
# echo "ROS1 activated"
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

# ROS2
# echo "ROS2 activated"
# source /opt/os/dashing/setup.bash

ctrl + O 저장 후

ctrl + X nano 나온다.

$ source ~/.bashrc

10. 실행

리눅스 환경에서 terminator 터미널에서 4분할 후 아래 명령어를 터미널 창마다 한개씩 실행한다.

1번 창

$ roscore

2번창

$ rosrun turtlesim turtlesim_node

3번창

$ rosrun hello_world print_turtle_pos.py

4번창 - 터미널 창에 마우스 클릭 후 방향키로 거북이 방향 조절한다.

$ rosrun turtlesim turtle_teleop_key

11. bag and publish

$ cd ~/catkin_ws/src/hello_world
$ mkdir bag
$ cd bag
$ rosbag record -a

rosbag record -a 실행시 화면

12. 생성된 rosbag 파일 확인

파일명.bag.active로 되어있을 경우 ctrl+c로 취소 시킨 후 아래 코드 실행한다.

$ cd ~/catkin_ws/src/hello_world/bag
$ rosbag info 2021-12-04-16-39-54.bag

rosbag info 파일명.bag 실행 화면

해당 ~/bag 폴더에서 아래 코드 실행

$ rqt_bag

왼쪽 상단 폴더로 bag 파일을 열어준다.

추가 터미널 alias 세팅

# alias
echo "nb is nano ~/.bashrc"
echo "sb is source ~/.bashrc"
echo "ca is conda activate"
echo "cde is conda deactivate"
echo ""
echo "gs = git status"
echo "gp = git pull"
echo "cw = cd ~/catkin_ws"
echo "cs = cd ~/catkin_ws/src"
echo "cm = cd ~/catkin_ws && catkin_make"
echo ""
echo "robot = ssh ubuntu@192.168.0.45"
echo "slam_gmapping = roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping"
echo "mapsave = rosrun map_server map_saver -f ~/map"
echo "joystick = roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch"
echo "navigation = roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml"
echo ""
echo "gazebo_empty_world = roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch"
echo "gazebo_turtle_world = roslaunch turtlebot3_gazebo turtlebot3_world.launch"
echo "gazebo_house = roslaunch turtlebot3_gazebo turtlebot3_house.launch"
echo "gazebo_simulation = roslaunch turtlebot3_gazebo turtlebot3_simulation.launch"
echo "gazebo_rviz = roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch"
echo "gazebo_autorace_2020 = roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch"
echo ""
echo "fake_turtle_node = roslaunch turtlebot3_fake turtlebot3_fake.launch"
echo ""
echo "camera_int_cali_action = roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch mode:=action"
echo "camera_ext_cali_action = roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=action"
echo "camera_ext_cali_calib = roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=calibration"
echo "camera_int_cali = roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch"
echo "camera_ext_cali = roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch"
echo ""
echo "auto_detect_lane = roslaunch turtlebot3_autorace_detect detect_lane.launch"
echo "auto_detect_lane_action = roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=action"
echo "auto_detect_lane_calib = roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=calibration"
echo "auto_race_driving = roslaunch turtlebot3_autorace_driving turtlebot3_autorace_control_lane.launch"
echo ""
echo "autorace_core_mission_traffic_light = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=traffic_light"
echo "autorace_core_mission_intersection = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=intersection"
echo "autorace_core_mission_construction = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=construction"
echo "autorace_core_mission_parking = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=parking"
echo "autorace_core_mission_level_crossing = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=level_crossing"
echo "autorace_core_mission_tunnel = roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=tunnel"

alias nb="nano ~/.bashrc"
alias sb="source ~/.bashrc"

alias ca="conda activate"
alias cde="conda deactivate"

alias gs='git status'
alias gp='git pull'
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

alias robot="ssh ubuntu@192.168.0.45"

alias slam_gmapping='roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping'
alias slam_carto='roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer'
alias slam_karto='roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=karto'
alias mapsave='rosrun map_server map_saver -f ~/map'

alias joystick='roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch'
alias navigation='roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml'

alias gazebo_empty_world='roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch'
alias gazebo_turtle_world='roslaunch turtlebot3_gazebo turtlebot3_world.launch'
alias gazebo_house='roslaunch turtlebot3_gazebo turtlebot3_house.launch'
alias gazebo_simulation='roslaunch turtlebot3_gazebo turtlebot3_simulation.launch'
alias gazebo_rviz='roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch'
alias gazebo_autorace_2020='roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch'

alias fake_turtle_node='roslaunch turtlebot3_fake turtlebot3_fake.launch'

alias camera_int_cali='roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch'
alias camera_ext_cali='roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch'

alias camera_int_cali_action='roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch mode:=action'
alias camera_ext_cali_calib='roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=calibration'
alias camera_ext_cali_action='roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=action'

alias auto_detect_lane = 'roslaunch turtlebot3_autorace_detect detect_lane.launch'
alias auto_detect_lane_action='roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=action'
alias auto_detect_lane_calib='roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=calibration'
alias auto_detect_lane='roslaunch turtlebot3_autorace_detect detect_lane.launch'
alias auto_race_driving='roslaunch turtlebot3_autorace_driving turtlebot3_autorace_control_lane.launch'

alias autorace_core_mission_traffic_light='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=traffic_light'
alias autorace_core_mission_intersection='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=intersection'
alias autorace_core_mission_construction='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=construction'
alias autorace_core_mission_parking='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=parking'
alias autorace_core_mission_level_crossing='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=level_crossing'
alias autorace_core_mission_tunnel='roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch mission:=tunnel'

# ROS
export TURTLEBOT3_MODEL=burger	

# ROS1
echo "ROS1 activated"
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

# ROS2
# echo "ROS2 activated"
# source /opt/os/dashing/setup.bash

# Arduino PATH
export PATH=$PATH:$HOME/Development/arduino-1.8.16

# kaggle

# GOlang PATH
export PATH=$PATH:/usr/local/go/bin

# ROS 통신 master / host 관계 설정
export ROS_MASTER_URI=http://192.168.0.33:11311
export ROS_HOSTNAME=192.168.0.22
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH