wheeltec移植到ubuntu18.04

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