Ctrl+Shift+T
roscd clbrobot/
/home/riki/catkin_ws/src/rikirobot_project/rikirobot/src
打开个人环境变量文件修改连接ROS的IP地址
$ gedit ~/.bashrc
找到下面一行文字,并修改IP地址
export ROS_MASTER_URI=http://192.168.43.155:11311
密码:123456
$ ssh -l clbrobot 192.168.43.155
$ roslaunch clbrobot bringup.launch
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
$ rosrun rviz rviz
在下面的目录打开odometry.rviz即可实时监视机器人所在的位置
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ ls
auto_slam.rviz laser.rviz multi_goal.rviz navigate.rviz odometry.rviz slam.rviz
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ pwd
/home/riki/catkin_ws/src/rikirobot_project/rikirobot/rviz
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/param/imu$ pwd
/home/riki/catkin_ws/src/rikirobot_project/rikirobot/param/imu
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/param/imu$ ls
imu_calib.yaml
$ gedit imu_calib.yaml
$ rostopic echo /imu/data
$ rosrun imu_calib do_calib
角度的比例因此用在底盘数据的存储
如多转了5度,即(5+360)/360=1.013
$ ssh -l clbrobot 192.168.43.155
$ rosrun rikirobot_nav calibrate_angular.py
不需要登录ros
$ rosrun rqt_reconfigure rqt_reconfigure
可勾选start_test进行360旋转测试,测试机器人实际转了多少度,并记录下来
登录并打开底盘的配置文件
clbrobot@clbrobot:~$ roscd clbrobot/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot$ cd launch/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot/launch$ gedit bringup.launch
找到angular_scale的配置项并修改为测量到的数据
$ ssh -l clbrobot 192.168.43.155
$ rosrun rikirobot_nav calibrate_linear.py
不需要登录ros
$ rosrun rqt_reconfigure rqt_reconfigure
可勾选start_test进行1米的前进测试,测试机器人实际走了多长距离,并记录下来
登录并打开底盘的配置文件
clbrobot@clbrobot:~$ roscd clbrobot/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot$ cd launch/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot/launch$ gedit bringup.launch
找到linear_scale的配置项并修改为测量到的数据
$ rosrun riki_pid pid_configure
$ rosrun rqt_reconfigure rqt_reconfigure
$ rosrun teleop_twist_keyboard
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot lidar_slam.launch
$ rosrun rviz rviz
在软件上加载slam.rviz文件
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ pwd
/home/riki/catkin_ws/src/rikirobot_project/rikirobot/rviz
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ ls
auto_slam.rviz multi_goal.rviz odometry.rviz
laser.rviz navigate.rviz slam.rviz
备注:
鼠标中键可拖动地图
鼠标滚轮可放大缩小
鼠标右键可放大缩小
鼠标左键可旋转
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
注意:可以直接在rviz中选中2D Pose Estinate让机器人到达指定位置构建地图,来代替键盘操作。
需要登录启动
$ roslaunch clbrobot auto_slam.launch
$ rosrun rviz rviz
在软件上加载auto_slam.rviz文件
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ pwd
/home/riki/catkin_ws/src/rikirobot_project/rikirobot/rviz
CLB@CLB:~/catkin_ws/src/rikirobot_project/rikirobot/rviz$ ls
auto_slam.rviz multi_goal.rviz odometry.rviz
laser.rviz navigate.rviz slam.rviz
打开调试工具后,鼠标左键选中Publish Point,然后在地图中设置一个点,再选中Publish Point,设置下一个点,直到形成一个封闭的区域,再按一个点,机器人就会自动到位置自动构建地图
$ roslaunch clbrobot bringup.launch
需要登录
$roslaunch clbrobot hector_slam.launch
不需要登录
$ rosrun rviz rviz
在软件上加载slam.rviz文件
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
移动机器人完成构图
注意:
把线速度和角速度都调到0.2左右,速度太快有可能造成建图失败
$ roslaunch clbrobot bringup.launch
需要登录
$roslaunch clbrobot karto_slam.launch
不需要登录
$ rosrun rviz rviz
在软件上加载slam.rviz文件
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
移动机器人完成构图
需要登录后在ROS中保存地图
clbrobot@clbrobot:~$ roscd clbrobot/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot$ cd maps/
clbrobot@clbrobot:~/catkin_ws/src/clbrobot_project/clbrobot/maps$ ls
cartographer_map.sh house.pgm house.yaml map.bag.pbstream map.pgm map.sh map.yaml
$ chmod 777 map.sh
$ ./map.sh
[ INFO] [1455211385.464521985]: Waiting for the map
[ INFO] [1455211385.699357061]: Received a 1984 X 1984 map @ 0.050 m/pix
[ INFO] [1455211385.699489266]: Writing map occupancy data to house.pgm
[ INFO] [1455211386.047259404]: Writing map occupancy data to house.yaml
[ INFO] [1455211386.047918398]: Done
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot navigate.launch
不需登录打开调试窗口
$ rosrun rviz rviz
加载文件
在软件上加载navigate.rviz文件
鼠标选中2D Pose Estimate然后拖动小车,使红点和黑边重合
鼠标选中2D Nav Goal然后在目标位置点击鼠标左键并拖动鼠标提供方向,机器人会自动到达目标位置,并会自动避障选择最佳路径到达目标位置
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot multi_goals.launch
$ roslaunch clbrobot navigate_multi.launch
$ rosrun rviz rviz
在软件上加载multi_goal.rviz文件
鼠标选中2D Pose Estimate然后拖动小车,使红点和黑边重合
鼠标选中Publish Point,然后在地图上点击一下产生第一个点,同样的操作生成第二个第三个第n个点,那么机器人就会依次到达上述的区域中去
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot camera.launch
虚拟机打开即可
roslaunch riki_line_follower riki_line.launch
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot camera.launch
$ roslaunch riki_lidar_follower laser_follower.launch
找个物体放到摄像头前面,然后机器人会跟随物体行走
$ roslaunch clbrobot bringup.launch
$ roslaunch clbrobot appcamera.launch
然后安装创乐博APP后配置好网络即可使用
$ roslaunch clbrobot camera.launch
$ roslaunch opencv_apps edge_detection.launch