为了满足项目需求,需要安装惯导驱动、相机驱动及ros串口通信工具来进行远程控制,如果你已有工作空间,可忽略第一步
创建一个工作空间
a.先在自己home里面创建一个工作空间:
mkdir -p ~/catkin_ws/src
b.进入文件夹 catkin_ws,编译:
catkin_make
安装惯导驱动
a.安装驱动:
sudo apt-get install ros-kinetic-sbg-driver
b.在catkin_ws/src中打开终端, 运行
git clone https://github.com/SBG-Systems/sbg_ros_driver
c.最后在 catkin_ws 文件夹中打开终端,编译:
catkin_make
安装 ros串口通信工具
打开一个新终端,运行:
sudo apt-get install ros-kinetic-serial
安装相机驱动
a.在catkin_ws/src中打开终端, 运行
git clone https://github.com/bosch-ros-pkg/usb_cam
b.在 catkin_ws 文件夹中打开终端,编译:
catkin_make
相机可视化
(1)在 catkin_ws 文件夹中打开新终端,配置环境:
source devel/setup.bash
(2)运行:
roslaunch usb_cam usb_cam-test.launch
(3)可视化:打开新终端,运行:
rqt_image_view
参考:https://blog.csdn.net/i_robots/article/details/107219035
https://www.cnblogs.com/ettie999/p/9013259.html
https://blog.csdn.net/hengheng_51/article/details/79760096