<<<<<<< HEAD
Linux系统环境:
系统出厂自带Ubuntu（V-20.04）系统，内置 ROS2 Galactic 开发环境，无需搭建和管理，只需更新mercury_ros2包即可。
mercury_ros2是大象机器人推出的适用于其Mercury B1系列机械臂的ROS2包
ROS2项目地址: http://github.com/elephantrobotics/mercury_ros2
机械臂API驱动库地址: https://github.com/elephantrobotics/pymycobot
1 更新 mercury_ros2 包
为了保证用户能及时使用最新的官方包，可以通过文件管理器进入/home/er文件夹，打开ROS2环境终端，然后运行命令更新：
# 克隆github上的代码
cd colcon_ws/src # 进入工作区的src文件夹中
git clone --depth 1 https://github.com/elephantrobotics/mercury_ros2.git
cd .. # 返回工作区
colcon build --symlink-install # 构建工作区中的代码，--symlink-install：避免每次调整 python 脚本时都需要重新编译
source install/setup.bash # 添加环境变量
注意: 如果在/home/er/colcon_ws/src（相当于~/colcon_ws/src）目录下已经存在mercury_ros2文件夹，则需要先删除原来的mercury_ros2，然后再执行上述命令。 其中，目录路径中的er为系统的用户名。
至此ROS2环境搭建完成，你可以学习ROS2的基础知识 或者ROS2使用案例。
← 上一页 | 下一页 →
Linux system environment
The system comes with Ubuntu (V-20.04) system and built-in ROS2 Galactic development environment. There is no need to build and manage it. You only need to update the mercury_ros2 package.
mercury_ros2 is a ROS2 package launched by Elephant Robot for its Mercury X1 series robotic arms.
ROS2 project address: http://github.com/elephantrobotics/mercury_ros2
Robotic arm API driver library address: https://github.com/elephantrobotics/pymycobot
1 Update mercury_ros2 package
In order to ensure that users can use the latest official packages in a timely manner, you can enter the /home/er folder through the file manager, open the ROS2 environment terminal, and then run the command update:
# Clone the code on github
cd ~/colcon_ws/src
git clone https://github.com/elephantrobotics/mercury_ros2.git # Please check the attention section below before deciding whether to execute this command
cd ~/colcon_ws # Back to work area
colcon build --symlink-install # Build the code in the workspace, --symlink-install: Avoid having to recompile python scripts every time you adjust them
source install/setup.bash # add environment variables
Note: If the mercury_ros2 folder already exists in the /home/er/colcon_ws/src (equivalent to ~/colcon_ws/src) directory, you need to delete the original mercury_ros2 before executing the above command. Among them, er in the directory path is the user name of the system.
So far, the ROS2 environment construction has been completed.You can learn the basics of ROS2 or ROS2 use cases
5673ade8eb00a28794557125b7d1c8cd332434a9