1.推荐参考连接
创客制造:
Turtlebot仿真.
Turtlebot入门.
ROS教程.
ROS与navigation教程.
2.安装turtlebot2教程
turtlebot在melodic系统下安装:
1.Turtlebot入门教程.melodic版本安装教程。
2.catkin_make可能报错,某个功能包的cmakelist文件缺少某依赖,例如是缺少bfl依赖,运行下一句话。
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:415 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:593 (_pkg_check_modules_internal)
robot_pose_ekf/CMakeLists.txt:6 (pkg_check_modules)
注意到是robot_pose_ekf包,cmakelist文件的其中第六行是:pkg_check_modules(BFL REQUIRED orocos-bfl)
sudo apt-get install ros-indigo-bfl(注意版本号)
3.安装Turtlebot rviz包,用于定位导航的显示,教程:
https://www.ncnynl.com/archives/201702/1384.html
3.应用与调试
安装rplidarA1M8驱动
参考:激光雷达初体验 - Ubuntu 18.04 + 思岚科技 RPLIDAR A1M8 + ROS 上手使用
注意:创建激光雷达(Rplidar)的串口别名
更改完成后,若依然报错:1)操作注意usb端口最先插入雷达的。 2)重启。
主要命令
读取rosbag文件
rosrun rosbag_to_csv rosbag_to_csv.py
运行小乌龟仿真器
rosrun turtlesim turtle
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
激光雷达
roslaunch rplidar_ros view_rplidar.launch
#启动turtlebot的rviz的仿真
roslaunch turtlebot_stage turtlebot_in_stage.launch
#启动键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch
上网本新开端口,启动turtlebot
roslaunch turtlebot_bringup minimal.launch
上网本新开端口,启动gmapping,用于构建地图
roslaunch turtlebot_navigation rplidar_gmapping_demo.launch
启动键盘操作Turtlebot
roslaunch turtlebot_teleop keyboard_teleop.launch
启动rviz,实时查看建图情况
roslaunch turtlebot_rviz_launchers view_navigation.launch
保存地图
rosrun map_server map_saver -f ~/map/rplidar_gmapping (文件路径及文件名)
发布地图,从而在rviz订阅
rosrun map_server map_server 文件名 (在文件当前路径下打开终端)
turtle走正方形
rosrun turtlebot_teleop turtlebot_square(会剧烈抖动)
建图
roslaunch nav_demo nav01_slam.launch
启动键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch
Turtlebot仿真器
roslaunch turtlebot_gazebo turtlebot_world.launch
运行导航演示
roslaunch turtlebot_gazebo amcl_demo.launch
启动Rviz。
roslaunch turtlebot_rviz_launchers view_navigation.launch
走正方形,直线,以及到指定点
cd ~/helloworld/turtlebot/
python follow_the_route.py 修改其中route.yaml文件的内容,即可赋予坐标