自己实验常用的命令,写博客避免哪天天灾人祸后悔
文章目录
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
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