ros2_geometric_shapes

介绍

The basic software package of ros2.

软件架构

软件架构说明

https://github.com/gazebosim/geometric_shapes

文件内容:

geometric_shapes/
├── CHANGELOG.rst
├── cmake
│   ├── ConfigExtras.cmake
│   └── FindQHULL.cmake
├── CMakeLists.txt
├── codecov.yaml
├── CONTRIBUTING.md
├── geometric_shapes.repos
├── include
│   └── geometric_shapes
├── LICENSE
├── package.xml
├── README.md
├── src
│   ├── aabb.cpp
│   ├── bodies.cpp
│   ├── body_operations.cpp
│   ├── mesh_operations.cpp
│   ├── shape_extents.cpp
│   ├── shape_operations.cpp
│   ├── shapes.cpp
│   └── shape_to_marker.cpp
└── test
    ├── CMakeLists.txt
    ├── resources
    ├── test_basics.cpp
    ├── test_body_operations.cpp
    ├── test_bounding_box.cpp
    ├── test_bounding_cylinder.cpp
    ├── test_bounding_sphere.cpp
    ├── test_create_mesh.cpp
    ├── test_loaded_meshes.cpp
    ├── test_point_inclusion.cpp
    ├── test_ray_intersection.cpp
    └── test_shapes.cpp

安装教程

1. 下载rpm包

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/openEuler_22.03_LTS_standard_aarch64/aarch64/geometric_shapes/ros-foxy-ros-geometric_shapes-2.1.3-0.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/openEuler_22.03_LTS_standard_x86_64/x86_64/geometric_shapes/ros-foxy-ros-geometric_shapes-2.1.3-0.oe2203.x86_64.rpm

2. 安装rpm包

aarch64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-geometric_shapes-2.1.3-0.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-geometric_shapes-2.1.3-0.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/目录下如下输出,则表示安装成功。

输出:

geometric_shapes/
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── geometric_shapes
        ├── 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

1. 使用 Readme_XXX.md 来支持不同的语言，例如 Readme_en.md, Readme_zh.md
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