小R SLAM机器人基本命令

从淘宝上买了一套小R机器人，想学习一下ROS，其有配套的视频教程，现在暂时没找到文本教程，这里自己做一点笔记

单独操作的话，每步前都需要执行如下指令

ssh xrrobot@192.168.3.170
123456
roslaunch xrrobot bringup.launch

 

1. IMU校准命令

roscd xrrobot
cd param/imu/
rostopic echo /imu/data
rosrun imu_calib do_calib

2. 角速度校准

上位机需要修改/etc/hosts，把ip地址修改正确

 

rosrun rikirobot_nav calibrate_angular.py
--------------------------------------------
# PC上执行
rosrun rqt_reconfigure rqt_reconfigure
--------------------------------------------
roscd xrrobot/launch/
vim bringup.launch        #"angular_scale"

3. 线速度校准

rosrun rikirobot_nav calibrate_linear.py
-----------------------------------------
# PC端执行
rosrun rqt_reconfigure rqt_reconfigure
-----------------------------------------
roscd xrrobot/launch/
vim bringup.launch    #"linear_scale"

4. PID校准

rosrun riki_pid pid_configure
---------------------------------
# PC端执行
rosrun rqt_reconfigure rqt_reconfigure
---------------------------------
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
---------------------------------
catkin_ws/src/xrrobot_project/riki_pid/cfg/rikiPID.cfg
catkin_ws/src/xrrobot_project/riki_pid/src/pid_configure.cpp

5. 键盘地图建立

roslaunch xrrobot lidar_slam.launch
--------------------------------------
# PC端执行
rosrun rviz rviz
--------------------------------------
# PC端执行
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
--------------------------------------
roscd xrrobot/maps/
./map.sh

6. 机器人自主导航与动态避障

roslaunch xrrobot navigate.launch
-------------------------------------
# PC端执行
rosrun rviz rviz

7. 鼠标建图自主规避障碍物

roslaunch xrrobot lidar_slam.launch
---------------------------------------
# PC上运行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

8.机器人选择区域自动构建地图

roslaunch xrrobot auto_slam.launch
-------------------------------------
# PC端执行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

 

9. 多点导航

roslaunch xrrobot navigate_multi.launch
-------------------------------------
# PC端执行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

10. 安卓手机建图

roslaunch xrrobot lidar_slam.launch

 Android运行Make Map.apk

11. 安卓手机导航

roslaunch xrrobot navigate.launch

应该是运行 ROS Map Navigation Kinetic_v1.0.0.apk

12. 激光雷达跟随

roslaunch riki_lidar_follower laser_follower.launch