1、网上下载
创建一个包,使用git clone https://gitee.com/bcledger_admin/dashgo.git
下载,快速。
2、编译
catkin_make
3、串口读取权限
底盘通过串口线连接电脑
(设置用户的串口读取权限)
sudo usermod -a -G dialout (your_user_name)
your_user_name 替换为实际用户名。
4、串口映射
cd ~/dashgo_ws/src/dashgo/dashgo_bringup/startup
sudo sh create_dashgo_udev.sh
ls -l /dev/dashgo
5、运行底盘
roslaunch dashgo_bringup minimal.launch
6、键盘控制
安装sudo apt-get install ros-melodic-teleop-twist-keyboard
赋权限chmod +x /home/txz/dashgo_ws/src/dashgo/dashgo_bringup/scripts/teleop_twist_keyboard.py
控制rosrun dashgo_bringup teleop_twist_keyboard.py
7、测试效果
可进行控制。