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New Crowdin translations - zh-CN (#25483)
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@@ -97,48 +97,48 @@ To install ROS 2 and its dependencies:
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1. Install ROS 2.
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:::: tabs
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:::: tabs
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::: tab humble
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To install ROS 2 "Humble" on Ubuntu 22.04:
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::: tab humble
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To install ROS 2 "Humble" on Ubuntu 22.04:
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```sh
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update && sudo apt upgrade -y
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sudo apt install ros-humble-desktop
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sudo apt install ros-dev-tools
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source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
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```
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```sh
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update && sudo apt upgrade -y
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sudo apt install ros-humble-desktop
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sudo apt install ros-dev-tools
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source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
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```
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The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
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The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
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:::
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::: tab foxy
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To install ROS 2 "Foxy" on Ubuntu 20.04:
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::: tab foxy
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To install ROS 2 "Foxy" on Ubuntu 20.04:
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- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
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- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
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You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
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You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
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:::
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::::
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::::
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2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
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```sh
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pip install --user -U empy==3.3.4 pyros-genmsg setuptools
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```
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```sh
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pip install --user -U empy==3.3.4 pyros-genmsg setuptools
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```
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### Setup Micro XRCE-DDS Agent & Client
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@@ -155,22 +155,22 @@ To setup and start the agent:
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2. 输入以下命令从仓库获取源代码并构建代理(Agent)：
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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sudo ldconfig /usr/local/lib/
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```
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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cmake ..
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make
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sudo make install
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sudo ldconfig /usr/local/lib/
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```
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3. 启动代理并设置以连接运行在模拟器上的 uXRCE-DDS客户端(Client)：
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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The agent is now running, but you won't see much until we start PX4 (in the next step).
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@@ -187,31 +187,31 @@ To start the simulator (and client):
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1. Open a new terminal in the root of the **PX4 Autopilot** repo that was installed above.
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
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- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
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```sh
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make px4_sitl gz_x500
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```
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```sh
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make px4_sitl gz_x500
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```
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:::
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::: tab foxy
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::: tab foxy
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- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
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- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
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```sh
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make px4_sitl gazebo-classic
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```
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```sh
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make px4_sitl gazebo-classic
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```
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:::
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::::
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::::
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The agent and client are now running they should connect.
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@@ -261,52 +261,52 @@ To create and build the workspace:
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2. Create and navigate into a new workspace directory using:
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```sh
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mkdir -p ~/ws_sensor_combined/src/
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cd ~/ws_sensor_combined/src/
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```
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```sh
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mkdir -p ~/ws_sensor_combined/src/
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cd ~/ws_sensor_combined/src/
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```
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::: info
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A naming convention for workspace folders can make it easier to manage workspaces.
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::: info
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A naming convention for workspace folders can make it easier to manage workspaces.
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:::
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3. Clone the example repository and [px4_msgs](https://github.com/PX4/px4_msgs) to the `/src` directory (the `main` branch is cloned by default, which corresponds to the version of PX4 we are running):
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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git clone https://github.com/PX4/px4_ros_com.git
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```
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```sh
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git clone https://github.com/PX4/px4_msgs.git
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git clone https://github.com/PX4/px4_ros_com.git
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```
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4. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/humble/setup.bash
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colcon build
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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```sh
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cd ..
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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:::
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::::
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::::
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This builds all the folders under `/src` using the sourced toolchain.
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This builds all the folders under `/src` using the sourced toolchain.
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#### Running the Example
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@@ -322,42 +322,42 @@ In a new terminal:
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1. Navigate into the top level of your workspace directory and source the ROS 2 environment (in this case "Humble"):
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/humble/setup.bash
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```
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/humble/setup.bash
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/foxy/setup.bash
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```
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```sh
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cd ~/ws_sensor_combined/
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source /opt/ros/foxy/setup.bash
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```
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:::
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::::
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::::
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2. Source the `local_setup.bash`.
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```sh
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source install/local_setup.bash
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```
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```sh
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source install/local_setup.bash
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```
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3. Now launch the example.
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Note here that we use `ros2 launch`, which is described below.
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Note here that we use `ros2 launch`, which is described below.
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```sh
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ros2 launch px4_ros_com sensor_combined_listener.launch.py
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```
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```sh
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ros2 launch px4_ros_com sensor_combined_listener.launch.py
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```
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If this is working you should see data being printed on the terminal/console where you launched the ROS listener:
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@@ -385,18 +385,18 @@ If you were to use incompatible [message versions](../middleware/uorb.md#message
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1. Include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into the example workspace or a separate workspace by running the following script:
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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2. Build and run the translation node:
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```sh
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colcon build
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source install/local_setup.bash
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ros2 run translation_node translation_node_bin
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```
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```sh
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colcon build
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source install/local_setup.bash
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ros2 run translation_node translation_node_bin
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```
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## Controlling a Vehicle
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Reference in New Issue
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