ubuntu22.04机器人开发环境设置

1. ros2环境设置（humble）

1. #配置源
2. # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
3. sudo apt install software-properties-common
4. sudo add-apt-repository universe
5. sudo apt update && sudo apt install curl -y
7. # 修改域名映射
8. sudo nano /etc/hosts #199.232.68.133‌‌
10. #安装ROS2
11. sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
12. echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
13. sudo apt update
14. sudo apt upgrade
15. sudo apt install ros-humble-desktop
16. echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
17. source ~/.bashrc
19. # 验证安装
20. ros2 run demo_nodes_py listener
21. ros2 run demo_nodes_cpp talker #新终端

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2. 机器人底盘（turtlebot3）

1. # 编译环境
2. sudo mkdir -p /etc/ros/rosdep/sources.list.d
3. sudo apt install python3-catkin-pkg python3-rosdep python3-rosinstall-generator python3-wstool python3-rosinstall build-essential
4. sudo rosdep init
5. rosdep update
6. # 安装 turtlebot3
7. apt install -y ros-humble-turtlebot3 ros-humble-turtlebot3-simulations
8. echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
9. source ~/.bashrc
10. # 验证安装 gazebo
11. ros2 launch turtlebot3_gazebo empty_world.launch.py

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详细步调截图见链接
3. 机械臂（UR）

1. # 安装 MoveIt! 依赖
2. sudo apt install ros-humble-moveit ros-humble-tf2-ros ros-humble-moveit-setup-assistant ros-humble-gazebo-ros-pkgs ros-humble-ros2-control
3. # 安装 UR 官方 ROS2 驱动
4. sudo apt install ros-humble-ur-robot-driver ros-humble-ur-description ros-humble-ur-moveit-config
5. # 安装依赖项
6. sudo apt install python3-colcon-common-extensions build-essential cmake python3-pip git
7. pip3 install colcon-common-extensions
9. # 验证 UR5安装 Rviz
10. ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=192.168.10.233 simulated:=True
12. # 安装 UR 的 Gazebo仿真
13. ssh-keygen -t ed25519
14. ssh -T git@github.com
15. export COLCON_WS=~/suo/ur_gazebo
16. mkdir -p $COLCON_WS/src
17. cd $COLCON_WS/src
18. git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git
19. rosdep update && rosdep install --ignore-src --from-paths -y
20. cd $COLCON_WS
21. colcon build --symlink-install
22. echo "source ~/suo/ur_gazebo/install/setup.bash" >> ~/.bashrc
23. source ~/.bashrc
25. # 验证 ur5的 gazebo 仿真
26. ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur5

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详细步调截图见链接Rviz
详细步调截图见链接Gazebo
4. 虚拟环境

1. pip install ai2thor
2. pip install numpy pillow opencv-python keyboard
3. # 运行测试脚本验证安装 test.py
4. from ai2thor.controller import Controller
5. controller = Controller(scene="FloorPlan1")
6. controller.step(action="MoveAhead")
7. print("Success!")

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详细步调截图见链接

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