ROS2初学者教程（Dashing和Eloquent）Windows _Eloquent

从来好事天生俭，自古瓜儿苦后甜。这篇文章主要讲述ROS2初学者教程（Dashing和Eloquent）Windows相关的知识，希望能为你提供帮助。

初学者（入门级）教程是分步说明ROS2使用的资料汇总，目标向初学者介绍ROS 2。建议按顺序学习这些教程，从“普通用户”课程过渡到“开发人员”课程，获取ROS 2的基本知识。

ardent	bouncy	crystal	dashing	eloquent

【ROS2初学者教程（Dashing和Eloquent）Windows】如果正在寻找特定的教程内容，欢迎从教程中挑选对应课程，需要了解这些教程是相互关联的或独立的，但是并不意味着这是全面的文档。这些教程正在逐步完善中，因此欢迎??反馈??。

注意：当前，初学者级教程针对?Dashing?和?Eloquent?。某些功能可能不适用于较早的发行版。
学习此部分教程，并不需要ROS1基础，也不推荐学习ROS1相关内容，直接在ROS2环境下开发机器人功能包。

turtlesim示例
rviz2示例

ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0, z: 1.8"
ros2 service call /spawn turtlesim/srv/Spawn "x: 6, y: 1, theta: 1.2, name: t6"
ros2 param set /turtlesim background_r 255
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "theta: 1.57"
---
ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py
rviz2

安装

???Dashing???
???Eloquent???

普通用户

???配置ROS 2环境???
???介绍turtlesim和rqt???
???了解ROS 2节点??nodes?
???了解ROS 2主题??topics?
???了解ROS 2服务??services?
???了解ROS 2参数??parameters?
???了解ROS 2行动??actions?
???使用rqt_console???
???创建启动文件??launch?
???记录和播放数据??ros2bag?

开发人员

???创建工作区??ws?
???创建一个ROS 2包???
???编写简单的发布者和订阅者（C ++）???
???编写简单的发布者和订阅者（Python）???
???编写简单的服务端和客户端（C ++）???
???编写简单的服务端和客户端（Python）???
???ros2doctor入门???

部分调试记录：
ros2 run turtlesim turtlesim_node
This application failed to start because it could not find or load the Qt platform plugin "windows"
使用windeployqt，配置一下该节点，通用格式如下：
windeployqt < ros2> /install/Lib/< package> /< target> .exe

C:\\ros_ws\\ros_tutorials\\install\\turtlesim\\lib\\turtlesim\\turtlesim_node.exe 64 bit, release executableAdding Qt5Svg for qsvgicon.dllDirect dependencies: Qt5Core Qt5Gui Qt5WidgetsAll dependencies: Qt5Core Qt5Gui Qt5WidgetsTo be deployed: Qt5Core Qt5Gui Qt5Svg Qt5WidgetsUpdating Qt5Core.dll.Updating Qt5Gui.dll.Updating Qt5Svg.dll.Updating Qt5Widgets.dll.Updating libGLESV2.dll.Updating libEGL.dll.Updating d3dcompiler_47.dll.Updating opengl32sw.dll.Updating vc_redist.x64.exe.Patching Qt5Core.dll...Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/iconengines.Updating qsvgicon.dll.Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/imageformats.Updating qgif.dll.Updating qicns.dll.Updating qico.dll.Updating qjpeg.dll.Updating qsvg.dll.Updating qtga.dll.Updating qtiff.dll.Updating qwbmp.dll.Updating qwebp.dll.Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/platforms.Updating qwindows.dll.Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/styles.Updating qwindowsvistastyle.dll.Creating C:\\ros_ws\\ros_tutorials\\install\\turtlesim\\lib\\turtlesim\\translations...Creating qt_ar.qm...Creating qt_bg.qm...Creating qt_ca.qm...Creating qt_cs.qm...Creating qt_da.qm...Creating qt_de.qm...Creating qt_en.qm...Creating qt_es.qm...Creating qt_fi.qm...Creating qt_fr.qm...Creating qt_gd.qm...Creating qt_he.qm...Creating qt_hu.qm...Creating qt_it.qm...Creating qt_ja.qm...Creating qt_ko.qm...Creating qt_lv.qm...Creating qt_pl.qm...Creating qt_ru.qm...Creating qt_sk.qm...Creating qt_uk.qm...

RQt依赖：