发表更新1 分钟读完 (大约163个字) 次访问
Ros操作
Ros跑在树莓派驱动ESP32小车
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
|
//开启microrosagent
docker run -it --net=host microros/micro-ros-agent:jazzy udp4 -p 8888
//开启rosbridge
ros2 run rosbridge_server rosbridge_websocket
//开启foxglove
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
ros2 topic list
ros2 topic echo /cmd_vel
# 替换 YOUR_IMAGE 为你的 ROS 镜像名，比如: ros:jazzy-ros-base 或你自建的镜像
docker run --rm -it --net=host --ipc=host --hostname ros-docker ros bash
kfzzzzzz@kfzzzzzz:~ $ sudo docker run -it --rm \
> --privileged \
> --net=host \
> -v /dev:/dev/ \
> -v /run/udev/:/run/udev/ \
> --group-add video \
> kfzzzzzz/ubuntu_camera_ros \
root@kfzzzzzz:/# source /opt/ros/jazzy/setup.bash
root@kfzzzzzz:/# source /app/install/setup.bash
root@kfzzzzzz:/# ros2 run camera_ros camera_node \
> --ros-args \
> -p camera:="/base/axi/pcie@1000120000/rp1/i2c@88000/imx477@1a" \
> -p format:=BGR888 -p width:=1280 -p height:=720 -p fps:=30
|
