1.底盘功能移植
usb线连接ubuntu主机与32底盘控制板,wheeltec_robot/src/turn_on_wheeltec_robot/scripts下的wheeltec_udev.sh运行一次,做设备别名,重新拔插USB。在终端运行:
sudo service udev restart
ll /dev | grep ttyUSB*
显示:lrwxrwxrwx 1 root root 7 4月 13 16:36 wheeltec_controller -> ttyUSB0表示成功。
2.思岚激光A1建图
(1)gmapping建图:
sudo apt install ros-melodic-gmapping
(2)karto建图
sudo apt install ros-melodic-slam-karto
(3)hector建图
sudo apt install ros-melodic-hector-slam
(4)cartographer建图
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-medolic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
git clone https://github.com/cartographer-project/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make
sudo make install
运行roslaunch turn_on_wheeltec_robot mapping.launch报错Error, operation time out. RESULT_OPERATION_TIMEOUT!原因:供电不足、ttyUSB是不是ttyUSB0,先插进去的会被识别为ttyUSB0,后插的就是ttyUSB1、波特率。
ll /dev/ttyUSB*//查看ttyUSB具体是谁
3.二维导航
报错:Failed to create the teb_local_planner/TebLocalPlannerROS planner, are you sure it is properly registered and that the containing library is built?
sudo apt install ros-melodic-teb-local-planner
报错:Failed to load a plugin. Using default recovery behaviors.Error: According to the loaded plugin descriptions the class move_slow_and_clear/MoveSlowAndClear with base class type nav_core::RecoveryBehavior does not exist. Declared types are clear_costmap_recovery/ClearCostmapRecovery rotate_recovery/RotateRecovery
sudo apt install ros-melodic-navigation
4.视觉加激光建图导航
参照相关launch文件即可,环境配置准确