待整理文档

待完善

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rviz 可视化

roslaunch dashgo_description dashgo_description.launch

在远程电脑上

export ROS_MASTER_URI=http://xxx:11311
rviz

move_base

在空白地图上测试走四方形

roslaunch dashgo_bringup minimal.launch
roslaunch dashgo_nav move_base_blank_map.launch
rosrun dashgo_bringup move_base_square.py 
或rosrun dashgo_bringup teb_move_base_square.py 

建图的测试环境：

DashD1底盘+rplidar激光雷达

安装环境

安装ROS包

cd ~/dashgo_ws/src
git clone https://github.com/robopeak/rplidar_ros.git
git clone https://github.com/ros-perception/slam_gmapping
git clone https://github.com/ros-perception/openslam_gmapping

git clone https://github.com/EAIBOT/dashgo.git
cd dashgo
git checkout slam_01

cd ~/dashgo_ws
catkin_make

运行

roslaunch dashgo_bringup  bringup_gmaping.launch
roslaunch dashgo_nav gmapping_demo.launch


export ROS_MASTER_URI=http://192.168.99.xx:11311
rviz

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带避障功能的导航

roslaunch dashgo_bringup  bringup_gmaping.launch
roslaunch dashgo_nav  move_base_obstacle.launch

在远程PC
export ROS_MASTER_URI=http://192.168.99.xx:11311
rviz