上一节,我们已经在Raspberry Pi上安装了ROS系统。这一节,我们来学习下如何构建ROS工作空间。
创建工作空间和ROS包
- 创建工作空间目录
mkdir ~/dashgo_ws/src
- 下载ros_arduino_bridge包,用于和下位机通讯,控制底盘的移动。
git clone https://github.com/hbrobotics/ros_arduino_bridge.git
cd ros_arduino_bridge
git checkout indigo-devel
- 创建dashgo_bringup包
cd ~/dashgo_ws/src
catkin_create_pkg dashgo_bringup std_msgs rospy roscpp
cd ~/dashgo_ws/src/dashgo_bringup
mkdir launch script config
- 编译软件包
cd ~/catkin_ws
catkin_make
修改配置
- 添加ros_arduino_python配置文件 ~/dashgo_ws/src/dashgo_bringup/config/my_arduino_params.yaml ,内容如下:
port: /dev/ttyACM0
baud: 115200
timeout: 0.1
rate: 50
sensorstate_rate: 10
use_base_controller: True
base_controller_rate: 10
# For a robot that uses base_footprint, change base_frame to base_footprint
base_frame: base_link