$ cd ~/catkin_ws/src
$ git clone https://github.com/ncnynl/turbot
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/ncnynl/turtlebot_apps
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/robopeak/rplidar_ros
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ sudo vim /etc/udev/rules.d/70-ttyusb.rules
输入以下内容并保存退出:
$ KERNEL=="ttyUSB[0-9]*", MODE="0666"
运行如下程序,查看权限,有两个rw就可以了
$ ls -l /dev |grep ttyUSB*
$ echo "export TURTLEBOT_LASER_SENSOR=rplidar" >> ~/.bashrc
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ roscd rplidar_ros
$ ./scripts/create_udev_rules.sh
驱动里提供了三个 launch 文件,检验雷达的话用 rplidar.launch 即可
$ roslaunch rplidar_ros rplidar.launch
可以观察到雷达开始旋转扫描,之后可以先关闭
$ roslaunch turbot_tools rplidar.launch
$ roslaunch turbot_tools test_rplidar.launch
可以看到在打开的RVIZ界面上有雷达扫描的点云图形
$ roslaunch turbot_bringup minimal.launch
或(roslaunch turtlebot_bringup minimal.launch)
$ roslaunch turbot_slam laser_gmapping_demo.launch
$ roslaunch turbot_rviz nav.launch
$ roslaunch turbot_teleop keyboard.launch
$ rosrun map_server map_saver -f ~/map/rplidar_a2_gmapping
$ ls ~/map
可以查看到map文件夹下有两个文件,一个是.pgm文件,另一个是.yaml文件。可以打开.pgm文件查看建成的地图。
$ roslaunch turbot_bringup minimal.launch
$ roslaunch turbot_slam laser_amcl_demo.launch map_file:=~/map/rplidar_a2_gmapping.yaml
$ roslaunch turbot_rviz nav.launch
初始化位置,选择2D Pose Estimate,标注机器人在地图上的位置和方向,按住鼠标左键拉向某个方向。
设置目标位置,选择“2D Nav Goal”, 标注机器人将要到达地图上的位置和方向,按住鼠标左键拉向某个方向。
机器人规划出一条路径,然后自动走向目标点。