apollo ros
时间: 2023-08-14 08:04:00 浏览: 76
Apollo ROS是Apollo开放平台中的一个模块,它将Apollo自动驾驶系统与ROS(Robot Operating System)框架无缝集成。ROS是一个开源的机器人操作系统,提供了一套工具和库,用于构建机器人应用程序。通过将Apollo与ROS结合使用,可以更容易地开发、测试和部署自动驾驶系统。
Apollo ROS模块提供了一些ROS节点和ROS消息,用于与Apollo系统进行通信。它可以让开发人员使用ROS的功能和工具,与Apollo进行交互,并将自己的算法和组件集成到Apollo中。例如,可以使用ROS节点发布和订阅Apollo的传感器数据、车辆状态信息以及控制指令。
通过使用Apollo ROS,开发人员可以利用ROS强大的生态系统,共享和复用现有的ROS软件包和算法。这样可以加快开发速度,降低开发成本,并且更方便地与其他ROS系统进行集成。
相关问题
In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/apollo_app.h:46:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/apollo_app.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/log.h:40:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~~~~~~~~~~~~~~~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:62: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o' failed make[2]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter_manager.h:48:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/adapters/adapter_manager.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter.h:49:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~~~~~~~~~~~~~~~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:110: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o' failed make[2]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o] Error 1 CMakeFiles/Makefile2:3894: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all' failed make[1]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 54%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/IntegratedNavigation/IntegratedNavigation_node [ 54%] Built target IntegratedNavigation_node [ 55%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/TimeSynchronierProcess/timeSynchronierProcess_node [ 55%] Built target timeSynchronierProcess_node Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed
It seems like there is a compilation error in your code. The error message indicates that the file "glog/logging.h" is not found. This file is part of the Google Logging Library (glog) and needs to be installed in order to compile your code successfully.
To resolve this issue, you can follow these steps:
1. Make sure that the glog library is installed on your system. You can check this by running the following command in your terminal:
```
dpkg -l libgoogle-glog-dev
```
If it is not installed, you can install it using the package manager specific to your system (e.g., apt for Ubuntu):
```
sudo apt-get install libgoogle-glog-dev
```
2. After installing the glog library, try compiling your code again. If the error persists, make sure that the glog library directory is included in the compilation flags. You can add the following line to your CMakeLists.txt file:
```
include_directories(/path/to/glog/include)
```
Replace "/path/to/glog/include" with the actual path to the glog library include directory on your system.
3. Save the changes to your CMakeLists.txt file and try compiling your code again.
If you continue to encounter issues, please provide more details about your development environment and the steps you have already taken to troubleshoot the problem.
ROS protobuf
在ROS中,protobuf(简称proto)被用于定义和传输消息。如果你想在ROS中使用protobuf进行消息定义和传输,可以参考以下步骤:
1. 首先,你需要安装protobuf库。你可以通过运行以下命令来安装protobuf:
```
sudo apt-get install protobuf-compiler
```
2. 接下来,你需要定义你的自定义proto消息。你可以创建一个`.proto`文件,并在其中定义你的消息结构。可以参考Apollo的代码仓库中的`ros/pb_msgs`目录下的代码示例。在这个目录下,你可以找到各种不同类型的ROS消息定义。
3. 一旦你定义了你的proto消息,你需要使用protobuf编译器将其编译成ROS可读取的代码。运行以下命令来编译proto文件:
```
protoc --proto_path=[proto文件所在目录 --cpp_out=[生成代码存放目录 [proto文件]
```
其中,`--proto_path`参数指定proto文件所在的目录,`--cpp_out`参数指定生成代码的存放目录,`[proto文件]`是你的proto文件的路径。
4. 编译成功后,你会得到生成的代码文件。这些代码文件可以用于在你的ROS程序中使用自定义的proto消息。你可以在ROS节点中包含生成的头文件,并使用它们来定义和传输消息。
总结来说,如果你想在ROS中使用protobuf进行消息定义和传输,首先安装protobuf库,然后定义自己的proto消息,使用protobuf编译器将其编译成ROS可读取的代码,最后在你的ROS程序中使用生成的代码文件。通过这些步骤,你就可以使用protobuf在ROS中定义和传输消息了。