從淘寶上買了一套小R機(jī)器人，想學(xué)習(xí)一下ROS，其有配套的視頻教程，現(xiàn)在暫時沒找到文本教程，這里自己做一點(diǎn)筆記

單獨(dú)操作的話，每步前都需要執(zhí)行如下指令

ssh xrrobot@192.168.3.170
123456
roslaunch xrrobot bringup.launch

?

1.?IMU校準(zhǔn)命令

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

2. 角速度校準(zhǔn)

上位機(jī)需要修改/etc/hosts，把ip地址修改正確

?

rosrun rikirobot_nav calibrate_angular.py
--------------------------------------------
# PC上執(zhí)行
rosrun rqt_reconfigure rqt_reconfigure
--------------------------------------------
roscd xrrobot/launch/
vim bringup.launch        #"angular_scale"

3. 線速度校準(zhǔn)

rosrun rikirobot_nav calibrate_linear.py
-----------------------------------------
# PC端執(zhí)行
rosrun rqt_reconfigure rqt_reconfigure
-----------------------------------------
roscd xrrobot/launch/
vim bringup.launch    #"linear_scale"

4. PID校準(zhǔn)

rosrun riki_pid pid_configure
---------------------------------
# PC端執(zhí)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. 鍵盤地圖建立

roslaunch xrrobot lidar_slam.launch
--------------------------------------
# PC端執(zhí)行
rosrun rviz rviz
--------------------------------------
# PC端執(zhí)行
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
--------------------------------------
roscd xrrobot/maps/
./map.sh

6.?機(jī)器人自主導(dǎo)航與動態(tài)避障

roslaunch xrrobot navigate.launch
-------------------------------------
# PC端執(zhí)行
rosrun rviz rviz

7.?鼠標(biāo)建圖自主規(guī)避障礙物

roslaunch xrrobot lidar_slam.launch
---------------------------------------
# PC上運(yùn)行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

8.機(jī)器人選擇區(qū)域自動構(gòu)建地圖

roslaunch xrrobot auto_slam.launch
-------------------------------------
# PC端執(zhí)行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

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9. 多點(diǎn)導(dǎo)航

roslaunch xrrobot navigate_multi.launch
-------------------------------------
# PC端執(zhí)行
rosrun rviz rviz
---------------------------------------
roscd xrrobot/maps/
./map.sh

10.?安卓手機(jī)建圖

roslaunch xrrobot lidar_slam.launch

?Android運(yùn)行Make Map.apk

11. 安卓手機(jī)導(dǎo)航

roslaunch xrrobot navigate.launch

應(yīng)該是運(yùn)行 ROS Map Navigation Kinetic_v1.0.0.apk

12.?激光雷達(dá)跟隨

roslaunch riki_lidar_follower laser_follower.launch

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總結(jié)

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