学习笔记之——基于ROS的Android开发

程序员文章站 2022-04-10 09:37:35

之前博客已经介绍了在linux下安装Android studio《基于linux系统安装Android Studio》，同时也实现了用手机控制turtlebot3的移动。本博文来系统性的学习一下Android与ROS联合开发~ROSJAVAROSjava为ros在java中的通信提供了一个客户端库，以及一系列的核心工具及驱动ROSAndroid参考资料http://wiki.ros.org/rosjavahttp://......

之前博客已经介绍了在linux下安装Android studio《基于linux系统安装Android Studio》，同时也实现了用手机控制turtlebot3的移动。本博文来系统性的学习一下Android与ROS联合开发~

ROSJAVA

ROSAndroid

ROS与Android项目

参考资料

ROSJAVA

ROSjava为ros在java中的通信提供了一个客户端库，以及一系列的核心工具及驱动

ROSAndroid

ROS与Android项目

github工程https://github.com/ros-autom/RobotCA/tree/kinetic/src/android_foo是一款可以控制机器人的APP。但是配置起来有点麻烦～～～

首先有些网页在大陆访问比较困难，为此修改build.gradle文件

/*
 * Copyright (C) 2014 Mike
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

task wrapper(type: Wrapper) {
    gradleVersion = '2.2.3'
}

buildscript {

//    apply from: "https://github.com/rosjava/android_core/raw/kinetic/buildscript.gradle"
//    apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/kinetic/buildscript.gradle"

    String rosMavenPath = System.getenv("ROS_MAVEN_PATH")
    String rosMavenRepository = System.getenv("ROS_MAVEN_REPOSITORY")
    repositories {
        if (rosMavenPath != null) {
            rosMavenPath.tokenize(":").each { path ->
                maven {
                    // We can't use uri() here because we aren't running inside something
                    // that implements the Script interface.
                    url "file:${path}"
                }
            }
        }
        maven {
            url "http://repository.springsource.com/maven/bundles/release"
        }
        maven {
            url "http://repository.springsource.com/maven/bundles/external"
        }
        if (rosMavenRepository != null) {
            maven {
                url rosMavenRepository
            }
        }
        maven {
            url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
        }
//        google()
        maven {
            url 'https://maven.google.com'
        }
        jcenter()
    }
    dependencies {
        classpath "org.ros.rosjava_bootstrap:gradle_plugins:[0.3,0.4)"
    }

    dependencies {
        classpath "com.android.tools.build:gradle:3.2.1"
    }

    allprojects {
        repositories {
            jcenter()
            maven {
                url "https://maven.google.com"
            }
        }
    }

    dependencies {
        //Add this to fix the gradle plugin issues
        classpath 'com.android.tools.build:gradle:1.5.0'

        // TEST
        classpath 'junit:junit:4.12'
        classpath 'org.mockito:mockito-core:1.10.19'
    }
}

apply plugin: 'catkin'


allprojects {
    /* A github url provides a good standard unique name for your project */
    group 'com.github.sccapstone.robotca'
    //version = project.catkin.pkg.version
}

subprojects {
    /*
     * The android plugin configures a few things:
     *
     *  - local deployment repository : where it dumps the jars and packaged artifacts)
     *  - local maven repositories    : where it finds your locally installed/built artifacts)
     *  - external maven repositories : where it goes looking if it can't find dependencies locally
     *  - android build tools version : which version we use across the board
     *
     * To modify, or add repos to the default external maven repositories list, pull request against this code:
     *
     *   https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
     *
     * To modify the build tools version, pull request against this code:
     *
     *   https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy#L14
     */
    apply plugin: 'ros-android'

    afterEvaluate { project ->
        android {
            // Exclude a few files that are duplicated across our dependencies and
            // prevent packaging Android applications....
            packagingOptions {
                exclude "META-INF/LICENSE.txt"
                exclude "META-INF/NOTICE.txt"
            }
        }
    }
}

然后在配置的时候，会存在一下网络打不开的情况

运行下面命令