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网站制作cms,网站开发搭建合同,企业网站建设要,加盟型网站制作一、术语解析 宿主机#xff1a;宿主机是指物理主机#xff0c;比如用于开发测试的笔记本电脑和台式机电脑。 虚拟机#xff1a;虚拟机是指安装在宿主机的VMware#xff0c;推荐在宿主机上安装虚拟机#xff0c;官方提供虚拟机的镜像以及配套的开发环境。 ROS主机…一、术语解析 宿主机宿主机是指物理主机比如用于开发测试的笔记本电脑和台式机电脑。 虚拟机虚拟机是指安装在宿主机的VMware推荐在宿主机上安装虚拟机官方提供虚拟机的镜像以及配套的开发环境。 ROS主机是指ROS小车上的主机 二、相关介绍

1. ROS教育机器人-树莓派4B版麦克纳姆轮 1. 虚拟机信息 配置项配置信息主机名ubuntu账户名wheeltec_client登录密码dongguan静态IP192.168.0.136Ubuntu版本18.04.6 LTS 2. ROS主机信息 软件配置信息 配置项配置信息主机名wheeltec账户名wheeltec密码dongguan静态IP192.168.0.100WiFi名称WHEELTEC_RASPBERRY_NOETICWiFi密码dongguanWIFI协议Wi-Fi 4 (802.11n)网络频带2.4 GHzOS版本Ubuntu 20.04.4 LTSROS版本Melodic 硬件配置信息 配置项配置信息主控名称树莓派CPU型号四核Cortex-A721.8GHz系统架构aarch64内存4GB内存卡32GMicroSD卡 CPU信息 wheeltecwheeltec:$ lscpu Architecture: aarch64 CPU op-mode(s): 32-bit, 64-bit Byte Order: Little Endian CPU(s): 4 On-line CPU(s) list: 0-3 Thread(s) per core: 1 Core(s) per socket: 4 Socket(s): 1 Vendor ID: ARM Model: 3 Model name: Cortex-A72 Stepping: r0p3 CPU max MHz: 1800.0000 CPU min MHz: 600.0000 BogoMIPS: 108.00 Vulnerability Itlb multihit: Not affected Vulnerability L1tf: Not affected Vulnerability Mds: Not affected Vulnerability Meltdown: Not affected Vulnerability Mmio stale data: Not affected Vulnerability Spec store bypass: Vulnerable Vulnerability Spectre v1: Mitigation; __user pointer sanitization Vulnerability Spectre v2: Vulnerable Vulnerability Srbds: Not affected Vulnerability Tsx async abort: Not affected Flags: fp asimd evtstrm crc32 cpuid内存信息 内存资源信息 wheeltecwheeltec:\( free -htotal used free shared buff/cache available Mem: 3.7Gi 465Mi 550Mi 4.0Mi 2.7Gi 3.1Gi Swap: 0B 0B 0B内存卡读取速度 wheeltecwheeltec:~\) sudo hdparm -t /dev/mmcblk0p2 [sudo] password for wheeltec:/dev/mmcblk0p2:HDIO_DRIVE_CMD(identify) failed: Invalid argumentTiming buffered disk reads: 144 MB in 3.03 seconds 47.56 MB/secmicro SD卡信息 wheeltecwheeltec:$ df -h Filesystem Size Used Avail Use% Mounted on udev 1.9G 0 1.9G 0% /dev tmpfs 380M 4.4M 375M 2% /run /dev/mmcblk0p2 29G 21G 7.6G 73% / tmpfs 1.9G 0 1.9G 0% /dev/shm tmpfs 5.0M 4.0K 5.0M 1% /run/lock tmpfs 1.9G 0 1.9G 0% /sys/fs/cgroup /dev/loop2 62M 62M 0 100% /snap/lxd/22761 /dev/loop0 60M 60M 0 100% /snap/core20/1627 /dev/loop1 60M 60M 0 100% /snap/core20/1977 /dev/loop4 47M 47M 0 100% /snap/snapd/19459 /dev/loop3 92M 92M 0 100% /snap/lxd/24065 /dev/mmcblk0p1 253M 129M 124M 52% /boot/firmware tmpfs 380M 8.0K 380M 1% /run/user/1001 tmpfs 380M 32K 380M 1% /run/user/128系统信息 wheeltecwheeltec:$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.4 LTS Release: 20.04 Codename: focal三、常用操作

2. 宿主机ssh连接ROS小车 1.1 连接WiFi 在宿主机上连接ROS小车自带的WiFi。 连接成功后查看WiFi信息 1.2 ping测试网络 ROS小车的静态IP是192.168.0.100在宿主机上ping ROS小车的iP是否连通。 能ping通说明宿主机与ROS小车的网络连通。 1.3 ssh登录 IP192.168.0.100用户名wheeltec密码dongguan ssh wheeltec192.168.0.1002. 虚拟机与ROS小车通信 ROS小车发出WiFi虚拟机连接该WiFi即可实现虚拟机与ROS小车的通信。 默认情况下ROS小车的静态IP为 192.168.0.100。只有当虚拟机与ROS小车在同一个网络才能进行通信因此需要设置虚拟机为静态IP。关于设置虚拟机的静态IP的方法请参见下文【 设置虚拟机的静态IP】。 ipROS小车192.168.0.100虚拟机192.168.0.136宿主机192.168.0.190

3. 设置虚拟机的静态IP 默认情况下虚拟机使用的是动态分配的IP地址使用的过程中可能会出现IP地址不停变化的情况因此设置静态IP地址可以为后续减少很多麻烦。 3.1 设置网络适配器 关闭虚拟机设置网络适配器将网络连接设置为“桥接模式”。 3.2 设置虚拟网络 设置虚拟网络将网络连接模式为“桥接模式”。 特别注意如果使用windows系统在连通网线的同时又使用无线网卡WiFi可能会出现网络配置修改之后虚拟机的网络无法使用的情况因此官方建议只使用无线网卡。 3.3 设置静态IP 新配置一个“有线配置”。为了区分其他有线配置需要自定义“新配置名称” 新配置名称Static IP地址192.168.0.136子网掩码225.225.225.0网关192.168.0.1 配置完成后查看配置信息。 3.4 ping ROS小车 在虚拟机上ping ROS小车的ip。 四、FAQ

4. ping ROS小车不通 wheeltec-clientubuntu:$ ping 192.168.0.100 PING 192.168.0.100 (192.168.0.100) 56(84) bytes of data. From 192.168.0.136 icmp_seq1 Destination Host Unreachable From 192.168.0.136 icmp_seq2 Destination Host Unreachable From 192.168.0.136 icmp_seq3 Destination Host Unreachable From 192.168.0.136 icmp_seq4 Destination Host Unreachable From 192.168.0.136 icmp_seq5 Destination Host Unreachable# 错误原因 虚拟机与ROS小车不在同一个网段导致无法通信# 解决办法 参考上文的【设置虚拟机的静态IP】2. 虚拟机ssh连接ROS小车失败 wheeltec-clientubuntu:\( ssh wheeltec192.168.0.100WARNING: REMOTE HOST IDENTIFICATION HAS CHANGED! IT IS POSSIBLE THAT SOMEONE IS DOING SOMETHING NASTY! Someone could be eavesdropping on you right now (man-in-the-middle attack)! It is also possible that a host key has just been changed. The fingerprint for the ECDSA key sent by the remote host is SHA256:U0UQNK4E3/QW4/AT4Zt3SaBUqz1f/dkQA3edjdmg2x4. Please contact your system administrator. Add correct host key in /home/wheeltec-client/.ssh/known_hosts to get rid of this message. Offending ECDSA key in /home/wheeltec-client/.ssh/known_hosts:1remove with:ssh-keygen -f /home/wheeltec-client/.ssh/known_hosts -R 192.168.0.100 ECDSA host key for 192.168.0.100 has changed and you have requested strict checking. Host key verification failed.# 解决办法 ssh-keygen -f /home/wheeltec-client/.ssh/known_hosts -R 192.168.0.100输出结果 wheeltec-clientubuntu:~\) ssh-keygen -f /home/wheeltec-client/.ssh/known_hosts -R 192.168.0.100

   Host 192.168.0.100 found: line 1

   /home/wheeltec-client/.ssh/known_hosts updated. Original contents retained as /home/wheeltec-client/.ssh/known_hosts.old wheeltec-clientubuntu:~$ ssh wheeltec192.168.0.100 The authenticity of host 192.168.0.100 (192.168.0.100) cant be established. ECDSA key fingerprint is SHA256:U0UQNK4E3/QW4/AT4Zt3SaBUqz1f/dkQA3edjdmg2x4. Are you sure you want to continue connecting (yes/no)? yes Warning: Permanently added 192.168.0.100 (ECDSA) to the list of known hosts. wheeltec192.168.0.100s password: Welcome to Ubuntu 20.04.4 LTS (GNU/Linux 5.4.0-1069-raspi aarch64)* Documentation: https://help.ubuntu.com* Management: https://landscape.canonical.com* Support: https://ubuntu.com/advantageSystem information as of Sun Jul 16 09:37:46 UTC 2023System load: 2.85 Processes: 265Usage of /: 70.0% of 28.94GB Users logged in: 1Memory usage: 14% IPv4 address for docker0: 172.17.0.1Swap usage: 0% IPv4 address for wlan0: 192.168.0.100Temperature: 39.4 C673 updates can be applied immediately. 299 of these updates are standard security updates. To see these additional updates run: apt list –upgradableNew release 22.04.2 LTS available. Run do-release-upgrade to upgrade to it.Last login: Sun Jul 16 08:53:50 2023 from 192.168.0.190