一、安装ROS2 Jazzy版本

1、下载包含Jazzy 的docker

     docker  pull   osrf/ros:jazzy-desktop

2、以交互模式在容器中运行镜像

    docker  run   -it osrf/ros:jazzy-desktop

3、查看ROS2已经安装的包

     ros2 pkg list

4:  查看ROS2已经安装的可执行节点 

   ros2 pkg executables





二、安装Nav2

1、apt install  ros-jazzy-navigation2

2、apt install  ros-jazzy-nav2-bringup





三、启动已经存在的容器

     采用启动+进入容器的方法，主要是为了在容器里面通过apt-get安装的软件包，下次还能用，否则会被清理掉.

 1: docker start   <容器ID或容器名称>

 2: docker exec -it <container_id_or_name> /bin/bash 







四、安装Nav2完成后的结果

http://dev.nav2.fishros.com/doc/index.html

#deb http://deb.debian.org/debian bookworm main contrib non-free non-free-firmware 

#deb http://deb.debian.org/debian-security/ bookworm-security main contrib non-free non-free-firmware 

#deb http://deb.debian.org/debian bookworm-updates main contrib non-free non-free-firmware 

 

deb https://mirrors.tuna.tsinghua.edu.cn/debian bookworm main contrib non-free-firmware 

deb https://mirrors.tuna.tsinghua.edu.cn/debian-security bookworm-security main contrib non-free-firmware 

deb https://mirrors.tuna.tsinghua.edu.cn/debian bookworm-updates main contrib non-free-firmware 

 

# Uncomment deb-src lines below then 'apt-get update' to enable 'apt-get source' 

#deb-src http://deb.debian.org/debian bookworm main contrib non-free non-free-firmware 

#deb-src http://deb.debian.org/debian-security/ bookworm-security main contrib non-free non-free-firmware 

#deb-src http://deb.debian.org/debian bookworm-updates main contrib non-free non-free-firmware

                                                                                                                                                                                                                 

1、rosbag 写

    #include <rosbag/bag.h>    #include <std_msgs/Int32.h>    #include <std_msgs/String.h>    rosbag::Bag bag;    bag.open("test.bag", rosbag::bagmode::Write);    std_msgs::String str;    str.data = std::string("foo");    std_msgs::Int32 i;    i.data = 42;    bag.write("chatter", ros::Time::now(), str);    bag.write("numbers", ros::Time::now(), i);    bag.close();



2、rosbag读



   

#include <rosbag/bag.h>    #include <rosbag/view.h>    #include <std_msgs/Int32.h>    #include <std_msgs/String.h>    #include <boost/foreach.hpp>    #define foreach BOOST_FOREACH    rosbag::Bag bag;    bag.open("test.bag", rosbag::bagmode::Read);    std::vector<std::string> topics;    topics.push_back(std::string("chatter"));    topics.push_back(std::string("numbers"));    rosbag::View view(bag, rosbag::TopicQuery(topics));    foreach(rosbag::MessageInstance const m, view)    {        std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();        if (s != NULL)            std::cout << s->data << std::endl;        std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();        if (i != NULL)            std::cout << i->data << std::endl;    }    bag.close();



C++11版本



    #include <rosbag/bag.h>    #include <rosbag/view.h>    #include <std_msgs/Int32.h>    rosbag::Bag bag;    bag.open("test.bag");  // BagMode is Read by default    for(rosbag::MessageInstance const m: rosbag::View(bag))    {      std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();      if (i != nullptr)        std::cout << i->data << std::endl;    }    bag.close();