rclcpp

介绍

Grclcpp（ROS C++客户端库）。

软件架构

软件架构说明 https://github.com/ros2/rclcpp.git

文件内容:

rclcpp/
├── CONTRIBUTING.md
├── LICENSE
├── README.md
├── rclcpp
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── Doxyfile
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   ├── doc
│   ├── include
│   ├── package.xml
│   ├── resource
│   ├── src
│   └── test
├── rclcpp_action
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── Doxyfile
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   ├── include
│   ├── package.xml
│   ├── src
│   └── test
├── rclcpp_components
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── Doxyfile
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   ├── cmake
│   ├── include
│   ├── package.xml
│   ├── rclcpp_components-extras.cmake.in
│   ├── src
│   └── test
└── rclcpp_lifecycle
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── Doxyfile
    ├── QUALITY_DECLARATION.md
    ├── README.md
    ├── include
    ├── package.xml
    ├── src
    └── test

安装教程

1. 下载RPM包

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rclcpp/ros2-foxy-ros2-rclcpp-2.4.2-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rclcpp/ros2-foxy-ros2-rclcpp-2.4.2-1.oe2203.x86_64.rpm

2. 安装rpm包

aarch64:

sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rclcpp-2.4.2-1.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rclcpp-2.4.2-1.oe2203.x86_64.rpm

使用说明

依赖环境安装:

sh /opt/ros/foxy/install_dependence.sh

安装完成以后，在/opt/ros/foxy/目录下出现如下输出，则表示安装成功。

输出:

.
├── include
│   └── rclcpp
├── lib
│   ├── cmake
│   └── librclcpp.so
└── share
    ├── colcon-core
    │   └── packages
    └── rclcpp
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh

参与贡献

1. Fork 本仓库
2. 新建 Feat_xxx 分支
3. 提交代码
4. 新建 Pull Request

特技

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