Up 起動 (roscore, rosnode, rosrun) 作成: 2021-03-04
更新: 2021-03-04

    $ roscore
    ... logging to 　　/home/ubuntu/.ros/log/6c1689ac-7c92-11eb-95c8-6d0f0344d34f/roslaunch-ubuntu-5561.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:41815/ ros_comm version 1.15.9 SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.15.9 NODES auto-starting new master process[master]: started with pid [5572] ROS_MASTER_URI=http://ubuntu:11311/ setting /run_id to 6c1689ac-7c92-11eb-95c8-6d0f0344d34f process[rosout-1]: started with pid [5582] started core service [/rosout]
    ターミナルの新規ウィンドウを開いて，RaspberryPi に ssh
    この新規シェルで
    $ ps -ef | grep ros ubuntu 5561 2479 1 11:36 pts/0 00:00:07 　　　/usr/bin/python3 /opt/ros/noetic/bin/roscore ubuntu 5572 5561 0 11:36 ? 00:00:04 　　　/usr/bin/python3 /opt/ros/noetic/bin/rosmaster 　　　--core -p 11311 -w 3 __log:= 　　　/home/ubuntu/.ro/log/6c1689ac-7c92-11eb-95c8-6d0f0344d34f/master.log ubuntu 5582 5561 0 11:36 ? 00:00:02 　　　/opt/ros/noetic/librosout/rosout __name:=rosout __log:= 　　　/home/ubuntu/.ros/log/6c1689ac-7c92-11eb-95c8-6d0f0344d34f/rosout-1.log
    $ rosnode list /rosout This shows that there is only one node running: rosout.

    $ rosnode info /rosout -------------------------------------------------------------------------------- Node [/rosout] Publications: * /rosout_agg [rosgraph_msgs/Log] Subscriptions: * /rosout [unknown type] Services: * /rosout/get_loggers * /rosout/set_logger_level contacting node http://ubuntu:37457/ ... Pid: 5582
    $ rosrun turtlesim turtlesim_node qt.qpa.xcb: could not connect to display qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb. Aborted (core dumped)
    Raspberry Pi の中からターミナルを開いて，このコマンドを入力すると： [ INFO] [1614844425.200918368]: Starting turtlesim with node name /turtlesim [ INFO] [1614844425.253029553]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000] TurtleSim のウィンドウが開いて，turtle が表示される

    $ rosnode list /rosout /turtlesim
    　 ssh -X

    $ ssh -X ubuntu@192.168.1.150

    $ rosrun turtlesim turtlesim_node [ INFO] [1614872164.914726484]: Starting turtlesim with node name /turtlesim [ INFO] [1614872164.957864062]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000] libGL error: No matching fbConfigs or visuals found libGL error: failed to load driver: swrast
    TurtleSim のウィンドウが開いて，turtle が表示される