🔧 环境配置¶
💡 主控计算机已预装所有环境。以下教程专为需要配置新设备时使用。
📋 前置要求¶
💻 软件环境¶
- Ubuntu 22.04 LTS
- ROS2 Humble
1.1 安装 ROS2 Humble¶
如已安装可跳过，详细安装步骤请参考 ROS2安装教程
1.2 安装系统依赖¶
# 更新系统
sudo apt update -y
# 安装 ROS2 依赖包
sudo apt-get install ros-humble-moveit -y
sudo apt-get install ros-humble-gripper-controllers -y
sudo apt-get install ros-humble-position-controllers -y
sudo apt-get install ros-humble-joint-state-broadcaster -y
sudo apt-get install ros-humble-joint-trajectory-controller -y
sudo apt-get install ros-humble-xacro -y
sudo apt-get install ros-humble-hardware-interface -y
sudo apt-get install ros-humble-controller-manager -y
sudo apt-get install ros-humble-moveit-plugins ros-humble-moveit-ros-perception -y
sudo apt-get install ros-humble-pinocchio -y
# 安装 Qt/PySide6 图形界面依赖
sudo apt-get install libxcb-cursor0 libxcb-xinerama0 libxcb-icccm4 libxcb-keysyms1 libxcb-render-util0 -y
# 安装 CAN 和 git
sudo apt-get install can-utils -y
sudo apt-get install git -y
# 安装 vcs 工具
sudo apt-get install python3-vcstool -y
# 安装 Python 依赖
python3 -m pip install python-can -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install pyside6 -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install openarmx_arm_driver -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install casadi -i https://pypi.tuna.tsinghua.edu.cn/simple
python3 -m pip install numpy==1.26.4 -i https://pypi.tuna.tsinghua.edu.cn/simple
# 更新系统
sudo apt update -y
# 安装 ROS2 依赖包
sudo apt-get install ros-humble-moveit -y
sudo apt-get install ros-humble-gripper-controllers -y
sudo apt-get install ros-humble-position-controllers -y
sudo apt-get install ros-humble-joint-state-broadcaster -y
sudo apt-get install ros-humble-joint-trajectory-controller -y
sudo apt-get install ros-humble-xacro -y
sudo apt-get install ros-humble-hardware-interface -y
sudo apt-get install ros-humble-controller-manager -y
sudo apt-get install ros-humble-moveit-plugins ros-humble-moveit-ros-perception -y
sudo apt-get install ros-humble-pinocchio -y
# 安装 Qt/PySide6 图形界面依赖
sudo apt-get install libxcb-cursor0 libxcb-xinerama0 libxcb-icccm4 libxcb-keysyms1 libxcb-render-util0 -y
# 安装 CAN 和 git
sudo apt-get install can-utils -y
sudo apt-get install git -y
# 安装 vcs 工具
sudo apt-get install python3-vcstool -y
# 安装 Python 依赖
python3 -m pip install python-can -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install pyside6 -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install openarmx_arm_driver -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install casadi -i https://pypi.tuna.tsinghua.edu.cn/simple
python3 -m pip install numpy==1.26.4 -i https://pypi.tuna.tsinghua.edu.cn/simple
# 更新系统
sudo apt update -y
# 安装 ROS2 依赖包
sudo apt-get install ros-humble-moveit -y
sudo apt-get install ros-humble-gripper-controllers -y
sudo apt-get install ros-humble-position-controllers -y
sudo apt-get install ros-humble-joint-state-broadcaster -y
sudo apt-get install ros-humble-joint-trajectory-controller -y
sudo apt-get install ros-humble-xacro -y
sudo apt-get install ros-humble-hardware-interface -y
sudo apt-get install ros-humble-controller-manager -y
sudo apt-get install ros-humble-moveit-plugins ros-humble-moveit-ros-perception -y
sudo apt-get install ros-humble-pinocchio -y
# 安装 Qt/PySide6 图形界面依赖
sudo apt-get install libxcb-cursor0 libxcb-xinerama0 libxcb-icccm4 libxcb-keysyms1 libxcb-render-util0 -y
# 安装 CAN 和 git
sudo apt-get install can-utils -y
sudo apt-get install git -y
sudo apt install libfuse2
# 安装 vcs 工具
sudo apt-get install python3-vcstool -y
# 安装 Python 依赖
python3 -m pip install python-can -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install pyside6 -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install openarmx_arm_driver -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
python3 -m pip install websockets -i https://pypi.tuna.tsinghua.edu.cn/simple
python3 -m pip install casadi -i https://pypi.tuna.tsinghua.edu.cn/simple
python3 -m pip install numpy==1.26.4 -i https://pypi.tuna.tsinghua.edu.cn/simple
# 配置当前用户，用于运行外骨骼上位机，配置完毕后需重启才能生效
sudo usermod -a -G dialout $USER
# 附权
sudo chmod +x 'Qnbot HMI Control-1.2.2.AppImage'
1.3 安装 CAN 驱动（如已安装可跳过）¶
注意：如果使用同构遥操，请安装 PCAN 驱动；如果不使用同构遥操，请安装 KCAN 驱动。
PCAN 驱动安装¶
先下载 PCAN 驱动压缩包，再执行以下命令： PCAN 驱动压缩包
# 解压缩
tar -xzvf peak-linux-driver-8.20.0.tar.gz -C ~
# 安装PCAN
cd ~/peak-linux-driver-8.20.0
sudo apt update
sudo apt install -y libpopt-dev
sudo apt install gcc-12 g++-12 -y
sudo sed -i 's/-ftrivial-auto-var-init=zero//g' /lib/modules/$(uname -r)/build/Makefile
make clean
make all
sudo make install
# 开启PCAN
sudo modprobe peak_usb
此时插上 CAN 盒，使用 ip link show 即可看到 can0、can1 等通道。接下来配置 PCAN 开机自启动。
## 开机启动PCAN
sudo sed -i 's/^blacklist peak_usb$/#blacklist peak_usb/' /etc/modprobe.d/blacklist-peak.conf
echo "peak_usb" | sudo tee -a /etc/modules
sudo depmod -a
KCAN 驱动安装¶
可参考 KCAN 驱动安装
1.4 构建工作空间¶
# 创建工作空间
cd
mkdir -p ~/openarmx_ws/src
cd ~/openarmx_ws/src
拉取代码
# 克隆
git clone https://github.com/openarmx/openarmx_ros2.git
# 拉取完整的选项包
vcs import < openarmx_ros2/openarmx.repos
安装 openarmx_can
# amd 架构
cd openarmx_ros2
sudo dpkg -i openarmx-can_1.0.0_amd64.deb
# arm架构
cd openarmx_ros2
sudo dpkg -i openarmx-can_1.0.0_arm64.deb
编译
# 编译工作空间
cd ~/openarmx_ws
colcon build
# 配置环境变量（pro max 版本专用）
echo "alias sc='source install/local_setup.bash'" >> ~/.bashrc
echo "alias cb='colcon build --packages-select'" >> ~/.bashrc
source ~/.bashrc