wheeltec + iwr1443 常用命令

自己实验常用的命令，写博客避免哪天天灾人祸后悔

远程连接

ssh -Y wheeltec@192.168.0.100
ssh -Y wheeltec@192.168.43.136

挂载

sudo mount -t nfs 192.168.0.100:/home/wheeltec/wheeltec_robot /mnt/wheeltec_robot
sudo umount -t nfs 192.168.0.100:/home/wheeltec/wheeltec_robot /mnt/wheeltec_robot
sudo mount -t nfs 192.168.0.100:/home/wheeltec/wheeltec_lidar /mnt/wheeltec_lidar
sudo umount -t nfs 192.168.0.100:/home/wheeltec/wheeltec_lidar /mnt/wheeltec_lidar
sudo mount -t nfs 192.168.0.100:/home/wheeltec/mmwave_ti_ros /mnt/mmwave_ti_ros
sudo umount -t nfs 192.168.0.100:/home/wheeltec/mmwave_ti_ros /mnt/mmwave_ti_ros

查看挂载结果：df -h

单独编译：

catkin_make -DCATKIN_WHITELIST_PACKAGES=’’

TI mmwave:

sudo chmod a+rw /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM1
sudo chmod a+rw /dev/ttyACM2
sudo chmod a+rw /dev/ttyACM3

打开毫米波雷达：

roslaunch ti_mmwave_rospkg 1443_multi_3d_wheeltec.launch
roslaunch ti_mmwave_rospkg 1443_multi_3d_0_wheeltec.launch
roslaunch ti_mmwave_rospkg 1443_multi_3d_1_wheeltec.launch

毫米波雷达octomap建图：

ros_driver：roslaunch ti_mmwave_rospkg 1443_multi_3d_wheeltec.launch
ros_driver：roslaunch pointcloud_to_laserscan_radar pointcloud_scan.launch
robotics_ros：roslaunch turtlebot_mmwave_launchers radar_mapping_wheeltec.launch
可视化建图效果：rosrun rviz rviz -d /mapping_visualization.rviz

毫米波雷达：

先开radar_0后开radar_1：
radar_0正常 ——> /ti_mmwave/radar_scan_pcl_1（ti_mmwave_1）
或（具有随机性）
先1443_multi_3d_0_wheeltec：radar_1正常 ——> /ti_mmwave/radar_scan_pcl_0（ti_mmwave_0）

先开radar_1后开radar_0：
radar_0正常 ——> /ti_mmwave/radar_scan_pcl_1（ti_mmwave_1）
radar_1正常 ——> /ti_mmwave/radar_scan_pcl_0（ti_mmwave_0）
修改 robot_model_visualization.launch(更换radar_0和radar_1位置):

<node pkg="tf" type="static_transform_publisher" name="base_to_radar0" args="0.3561 0.00925 0.1617 0 0 0 base_footprint ti_mmwave_1 100" />
<node pkg="tf" type="static_transform_publisher" name="base_to_radar1" args="0 0 0.2 1.57 0 0 base_footprint ti_mmwave_0 100" />

步骤：
1.source ./devel/setup.bash
2.sudo chmod a+rw /dev/ttyACM0 1 2 3
3.roslaunch 1443_multi_3d_0_wheeltec 1443_multi_3d_1_wheeltec

打开RGB摄像头：

roslaunch usb_cam usb_cam-test.launch

打开depth摄像头：

roslaunch ros_astra_camera astra.launch

打开C16：

roslaunch turn_on_wheeltec_robot wheeltec_lidar.launch

小车运动：

roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch
roslaunch wheeltec_robot_rc keyboard_teleop.launch

导航：

2d:roslaunch turn_on_wheeltec_robot navigation.launch
3d:roslaunch turn_on_wheeltec_robot 3d_navigation.launch
纯视觉导航：roslaunch turn_on_wheelte