Turtlebot 学习（1）

1、获得所有权限 sudo nautilus
2、修改串口权限，注意：每次USB重新插入都需要修改该权限:
sudo chmod a+rw /dev/ttyACM0
3、打开一个新终端，运行hokuyo_node节点
rosrun hokuyo_node hokuyo_node
4、打开一个新终端，查看是否正常接收雷达数据
rostopic echo /scan
5、打开rviz rosrun rviz rviz
在rviz中配置
a.点击rviz左下角Adkd,添加LaserScan
b.点击Global Option下方的Fixed Frame,将右边的参数改为laser
c.点击LaserScan下面的Topic，改为/scan
d.点击LaserScan下面的Style，改为Point
6、上网本新开端口，启动turtlebot
roslaunch turtlebot_bringup minimal.launch
7、上网本新开端口，启动gmapping,用于构建地图
roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch
8、工作机或上网本新开端口，启动键盘操作Turtlebot
roslaunch turtlebot_teleop keyboard_teleop.launch
9、工作机或上网本新开端口，启动rviz，实时查看建图情况
roslaunch turtlebot_rviz_launchers view_navigation.launch
10、构建地图结束，上网本新开端口，建立目录，保存地图
mkdir -p ~/map
rosrun map_server map_saver -f ~/map/hokuyo_gmapping
11、启动turtlebot
roslaunch turtlebot_bringup minimal.launch
12、amcl
roslaunch turtlebot_navigation hokuyo_amcl_demo.launch map_file:=/home/zbx/map/hokuyo_map.yaml
13启动RVIZ
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

ROS人机交互软件免费分享: https://mp.weixin.qq.com/s/kURIfi0Ndap4bpgAJPbyKA

Ailibot-QT教程-目录: https://www.ncnynl.com/category/Ailibot-QT/

在GAZEBO里实验rrt*: https://github.com/nakul3112/Motion_Planning_with_RRTstar_and_InformedRRTstar

Turtlebot_RRT_SLAM: https://github.com/CP-TSAI/Turtlebot_RRT_SLAM

PathPlanning_for_turtlebot_using_Astar_and_RRT_RRT * _RRT *智能:https://github.com/pranavhj/PathPlanning_for_turtlebot

随机探索随机树路径规划器ROS插件:https://github.com/jeshoward/turtlebot_rrt

ubuntu 16.04(ROS kinetic)安装 turtlebot:https://blog.csdn.net/qq_37427972/article/details/82850177?
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turtlebot 2入门(ubuntu 16.04+ROS Kinetic):https://blog.csdn.net/qq_37377240/article/details/89597752

Ubuntu 16.04+hokuyo(URG)安装配置与turtlebot 2.0 建图（gmapping）:https://blog.csdn.net/AICynthiaChan/article/details/104902650?spm=1001.2014.3001.5501

在ROS中开始自主机器人仿真 - 0 概述：https://blog.csdn.net/yangziluomu/article/details/70139027?spm=1001.2014.3001.5501

解决ROS编译出现缺少依赖项问题:https://blog.csdn.net/seniorc/article/details/112277145

ROS移动机器人基于RRT（快速探索随机树）算法 rrt_exploration实现真实机器人自主探索建图:https://blog.csdn.net/qq_42145185/article/details/82461072

ROS Navigation之move_base完全详解:https://blog.csdn.net/u013834525/article/details/84627204

先看下ros包move_base，替换掉默认的路径规划器就可以了:https://www.zhihu.com/question/383422652

ROS和RRT的一些资料:https://blog.csdn.net/zhangrelay/article/details/79297492