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source /opt/ros/humble/setup.bash #添加环境变量，需要每次启动终端使用此命令，比较繁琐
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echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc #将添加环境变量的命令添加到脚本，开启终端自启动，无需反复source

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ros2 run demo_nodes_cpp talker

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ros2 run demo_nodes_py listener

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ros2 run turtlesim turtlesim_node

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pwd

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ls

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ls -A

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mkdir test

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cd test/

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touch read.txt

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rm read.txt

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rm -R test/ #-R表示递归删除

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sudo apt install libopencv(自动补全)# sudo表示提升当前使用者权限为管理员,apt表示应用,install表示安装,安装opencv

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from setuptools import setup
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package_name = 'learning_node'
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setup(
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    name=package_name,
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    version='0.0.0',
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    packages=[package_name],
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    data_files=[
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        ('share/ament_index/resource_index/packages',
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            ['resource/' + package_name]),
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        ('share/' + package_name, ['package.xml']),
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    ],
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    install_requires=['setuptools'],
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    zip_safe=True,
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    maintainer='Hu Chunxu',
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    maintainer_email='huchunxu@guyuehome.com',
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    description='TODO: Package description',
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    license='TODO: License declaration',
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    tests_require=['pytest'],
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    entry_points={
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        'console_scripts': [
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         'node_helloworld       = learning_node.node_helloworld:main', #节点的配置信息,配置完成后就可以用ros2 run运行
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         'node_helloworld_class = learning_node.node_helloworld_class:main',
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         'node_object            = learning_node.node_object:main',
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         'node_object_webcam     = learning_node.node_object_webcam:main',
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        ],
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    },
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)

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@作者: 古月居(www.guyuehome.com)
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@说明: ROS2节点示例-发布“Hello World”日志信息, 使用面向对象的实现方式
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"""
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import rclpy                                     # ROS2 Python接口库
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from rclpy.node import Node                      # ROS2 节点类
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import time
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"""
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创建一个HelloWorld节点, 初始化时输出“hello world”日志
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"""
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class HelloWorldNode(Node):
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    def __init__(self, name):
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        super().__init__(name)                       # ROS2节点父类初始化
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        while rclpy.ok():                            # ROS2系统是否正常运行
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            self.get_logger().info("Hello World")    # ROS2日志输出
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            time.sleep(0.5)                          # 休眠控制循环时间
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def main(args=None):                                 # ROS2节点主入口main函数
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    rclpy.init(args=args)                            # ROS2 Python接口初始化
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    node = HelloWorldNode("node_helloworld_class")   # 创建ROS2节点对象并进行初始化
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    node.destroy_node()                              # 销毁节点对象
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    rclpy.shutdown()                                 # 关闭ROS2 Python接口