无人车（四驱大车）配置202306115

1. 连接wifi
2. 改ROS_MASTER

   gedit ~/.bashrc
   export ROS_MASTER_URI=http://wheeltec:11311
   export ROS_HOSTNAME=wheeltec

3. 重开终端

   roslaunch turn_on_wheeltec turn_on_wheeltec_robot.launch

4. 下载swarm_ros_bridge

   ​
   ## clone this package
   mkdir -p swarm_ros_bridge_ws/src  # or your own ros workspace
   cd swarm_ros_bridge_ws/src
   git clone https://gitee.com/shu-peixuan/swarm_ros_bridge.git
   # or 'git clone https://github.com/shupx/swarm_ros_bridge.git'
   
   ## install dependencies
   sudo apt install libzmqpp-dev
   # or 'rosdep install --from-path swarm_ros_bridge/'
   
   ## build
   cd ../
   catkin_make
   source devel/setup.bash
   
   ​

   sudo apt install libzmqpp-dev不顺利可以尝试以下方法

   1.改源

   
   将U盘里的sources.list 复制到桌面上
   
   sudo /etc/apt
   
   mv sources.list sources1.list
   
   cp ~/Desktop/sources.list /etc/apt/sources.list

   2.切换手机热点

   3.sudo apt-get update

   4.sudo apt-get upgrade

5. 下载game_huashan_2023_uav

   ## clone this package
   mkdir -p huashan_ws/src  # or your own ros workspace
   cd huashan_ws/src
   git clone https://gitee.com/bhswift/game_huashan_2023_uav
   
   ## build
   cd ../
   catkin_make
   source devel/setup.bash

6. 修改~/.bashrc，文件末尾添加

   source ~/huashan_ws/devel/setup.bash
   source ~/swarm_ros_bridge_ws/devel/setup.bash
   export ugv_id=ugv1 //export ugv_id=ugv2 //地面站export ugv_id=groundstation
   export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/huashan_ws/src
   export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/swarm_ros_bridge_ws/src

7. 试运行

   roslaunch game_huashan_2023_uav game_hua_ros_bridge.launch

   如果报错，更改~/swarm_ros_bridge_ws/src下所有文件权限，设为可执行。先重新编译huashan_ws，再重新编译swarm_ros_bridge_ws。（重新编译方法：先删除src之外的所有文件，再catkin_make）

8. 运行

   roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch
   roslaunch game_huashan_2023_uav game_hua_ros_bridge.launch

9. 配置ip

   car1: 192.168.1.71
   car2: 192.168.1.72
   groundstation: 192.168.1.32