1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22

# -*- coding: utf-8 -*-

import rclpy
from rclpy.node import Node


def main():
    # 环境初始化
    rclpy.init()

    # 创建一个新节点
    node = Node("python_node")

    # 调度节点运行
    rclpy.spin(node)

    # 环境去初始化
    rclpy.shutdown()


if __name__ == '__main__':
    main()

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16

#include "rclcpp/node.hpp"
#include "rclcpp/executors.hpp"

int main(int argc, char* argv[]) {
    rclcpp::init(argc, argv);

    auto node = std::make_shared<rclcpp::Node>("cpp_node");

    RCLCPP_INFO(node->get_logger(), "Hello, C++ Node");

    rclcpp::spin(node);

    rclcpp::shutdown();

    return 0;
}

1
2
3

sudo apt update && sudo apt install locales
sudo locale-gen zh_CN zh_CN.UTF-8
sudo update-locale LC_ALL=zh_CN.UTF-8 LANG=zh_CN.UTF-8

1
2

sudo apt install software-properties-common
sudo add-apt-repository universe

1
2
3
4

# 安装证书
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://mirrors.ustc.edu.cn/ros2/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros2.sources > /dev/null

1

sudo apt update && sudo apt install ros-dev-tools

1

sudo apt update && sudo apt upgrade && sudo apt install ros-jazzy-desktop

1
2

USE sql_store;
SELECT customer_id, first_name FROM customers WHERE customer_id = 1 ORDER BY first_name;