stm32自主移动机器人控制+rviz显示

参考：https://www.ncnynl.com/category/ros-car-b/ 

这里是创客做的步进电机教程

 我用的是can总线连接的伺服电机 ，有一定差别不过不大

根据教程，如果catkin_Make 出错，请更改package.xml中depend项

  <buildtool_depend>catkin</buildtool_depend>
   <!--<build_depend>message_generation</build_depend>-->
  <build_depend>nav_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>serial</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>tf</build_depend>
  <build_export_depend>nav_msgs</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>serial</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>tf</build_export_depend>
  <exec_depend>nav_msgs</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>serial</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>tf</exec_depend>

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:191 (message):
  catkin_package() the catkin package 'rospy' has been find_package()-ed but
  is not listed as a build dependency in the package.xml

编译成功后

其中有个键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

2.https://www.ncnynl.com/archives/201609/843.html 

制作小车模型教程小车模型

编译成功后

roslaunch smartcar_description smartcar_display.rviz.launch

就可以用键盘控制rviz中的小车了