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在 ROS2GO 上应该如何配置 Fast-drone-250 环境

安装步骤

注意

由于 ros2go 内置了 realsense2_cameraceres-solverglogddyanmic-reconfigure,因此这 3 个无需安装

用户仅需安装的软件包有:

  • mavros
  • ego-planner

初始化 catkin 工作空间

bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/

安装 Mavros

bash
cd ~/catkin_ws/src
git clone https://github.com/mavlink/mavros.git

安装 ego-planner

bash
cd ~/catkin_ws/src
git clone https://github.com/ZJU-FAST-Lab/Fast-Drone-250.git

编译工作空间:

bash

cd ~/catkin_ws/
catkin_make
source devel/setup.bash

常用实验与调试软件的安装与使用

Terminator

bash
sudo apt install terminator

Plotjuggler

bash
sudo apt install ros-noetic-plotjuggler
sudo apt install ros-noetic-plotjuggler-ros