Apex.AI: Autoware (강의3)

ROS2의 이야기가 계속된다.

2강 3강의 내용은 ROS1을 접해본 적이 있거나, 현재 ROS1으로 개발하고 있는 경우에는 큰 어려움 없이 이해할 수 있다. ROS2 튜토리얼을 보면 다 나와있는거지만 유튜브 보면서 따라하면 지루하지 않은 장점이 있을까나^^;

참고자료:

https://index.ros.org/doc/ros2/Tutorials/

강의자료:

https://gitlab.com/ApexAI/autowareclass2020/-/blob/master/lectures/03_ROS_Tooling/Lesson3CLI.rst

유튜브: 

https://youtu.be/wcibIqiRb04 

sip2@sip2-NG-N-i5750:~$ cd adehome/

sip2@sip2-NG-N-i5750:~/adehome$ ls

AutowareAuto  autowareclass2020  data  ros2_example_ws

sip2@sip2-NG-N-i5750:~/adehome$ cd AutowareAuto/

sip2@sip2-NG-N-i5750:~/adehome/AutowareAuto$ ade start

Starting ade with the following images:

ade          | 18425565a9fd | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/ade:master

ade-atom     | v1.39.1      | latest | registry.gitlab.com/apexai/ade-atom:latest                                  

autowareauto | c9dbc109642c | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto:master    

ade_registry.gitlab.com_apexai_ade-atom_latest

ade_registry.gitlab.com_autowarefoundation_autoware.auto_autowareauto_master

non-network local connections being added to access control list

Current default time zone: 'Asia/Tokyo'

Local time is now:      Tue May 26 07:27:17 JST 2020.

Universal Time is now:  Mon May 25 22:27:17 UTC 2020.

Adding user sip2 to group video

Adding user sip2 to group dialout

Initializing /opt/atom

Initializing /opt/atom done

ADE startup completed.

ADE has been started, enter or run commands using: ade enter

sip2@sip2-NG-N-i5750:~/adehome/AutowareAuto$ ade enter

Entering ade with following images:

ade          | 18425565a9fd | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/ade:master

ade-atom     | v1.39.1      | latest | registry.gitlab.com/apexai/ade-atom:latest                                  

autowareauto | c9dbc109642c | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto:master    

예습을 위한 환경 설정 및 인스톨

sip2@ade:~$ source /opt/ros/dashing/setup.bash

sip2@ade:~$ sudo apt update

sip2@ade:~$ sudo apt install ros-dashing-turtlesim

sip2@ade:~$ sudo apt install ros-dashing-rqt-*

sip2@ade:~$ sudo apt install byobu

sip2@ade:~$ ros2 --help

usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

optional arguments:

  -h, --help            show this help message and exit

Commands:

  action     Various action related sub-commands

  bag        Various rosbag related sub-commands

  component  Various component related sub-commands

  daemon     Various daemon related sub-commands

  launch     Run a launch file

  lifecycle  Various lifecycle related sub-commands

  msg        Various msg related sub-commands

  multicast  Various multicast related sub-commands

  node       Various node related sub-commands

  param      Various param related sub-commands

  pkg        Various package related sub-commands

  run        Run a package specific executable

  security   Various security related sub-commands

  service    Various service related sub-commands

  srv        Various srv related sub-commands

  test       Run a ROS2 launch test

  topic      Various topic related sub-commands

  Call `ros2 <command> -h` for more detailed usage.

ROS의 Hello world인 터틀 봇 제어해보기

새창1

sip2@ade:~$ ros2 run turtlesim turtlesim_node 

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-sip2'

[INFO] [turtlesim]: Starting turtlesim with node name /turtlesim

[INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

새창2

sip2@ade:~$ source /opt/ros/dashing/setup.bash

sip2@ade:~$ ros2 run turtlesim turtle_teleop_key 

Reading from keyboard

---------------------------

Use arrow keys to move the turtle.

Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.

'Q' to quit.

새창3

sip2@ade:~$ ros2 node list --all

/_ros2cli_daemon_0

/teleop_turtle

/turtlesim

sip2@ade:~$ ros2 topic list

/parameter_events

/rosout

/turtle1/cmd_vel

/turtle1/color_sensor

/turtle1/pose

sip2@ade:~$ ros2 topic bw -w 100 /turtle1/pose

Subscribed to [/turtle1/pose]

average: 1.52KB/s

        mean: 0.02KB min: 0.02KB max: 0.02KB window: 63

average: 1.50KB/s

        mean: 0.02KB min: 0.02KB max: 0.02KB window: 100

average: 1.51KB/s

        mean: 0.02KB min: 0.02KB max: 0.02KB window: 100

average: 1.50KB/s

        mean: 0.02KB min: 0.02KB max: 0.02KB window: 100

average: 1.51KB/s

        mean: 0.02KB min: 0.02KB max: 0.02KB window: 100

sip2@ade:~$ rqt

sip2@ade:~$ rqt_graph

강의 뒷부분에서 터틀봇을 서비스와 액션을 이용해서 제어하는 방법을 알려준다.