1.底盤功能移植

usb線連接ubuntu主機與32底盤控制板，wheeltec_robot/src/turn_on_wheeltec_robot/scripts下的wheeltec_udev.sh運行一次，做設備別名，重新拔插USB。在終端運行：

sudo service udev restart ll /dev | grep ttyUSB*

顯示：lrwxrwxrwx 1 root root 7 4月 13 16:36 wheeltec_controller -> ttyUSB0表示成功。

2.思嵐激光A1建圖

（1）gmapping建圖：

sudo apt install ros-melodic-gmapping

（2）karto建圖

sudo apt install ros-melodic-slam-karto

（3）hector建圖

sudo apt install ros-melodic-hector-slam

（4）cartographer建圖

sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-medolic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-devgit clone https://github.com/cartographer-project/cartographer.gitcd cartographermkdir buildcd buildcmake .. makesudo make install

運行roslaunch turn_on_wheeltec_robot? mapping.launch報錯Error, operation time out. RESULT_OPERATION_TIMEOUT!原因：供電不足、ttyUSB是不是ttyUSB0，先插進去的會被識別為ttyUSB0，后插的就是ttyUSB1、波特率。

ll /dev/ttyUSB*//查看ttyUSB具體是誰

3.二維導航

報錯：Failed to create the teb_local_planner/TebLocalPlannerROS planner, are you sure it is properly registered and that the containing library is built?

sudo apt install ros-melodic-teb-local-planner

報錯：Failed to load a plugin. Using default recovery behaviors.Error: According to the loaded plugin descriptions the class move_slow_and_clear/MoveSlowAndClear with base class type nav_core::RecoveryBehavior does not exist. Declared types are clear_costmap_recovery/ClearCostmapRecovery rotate_recovery/RotateRecovery

sudo apt install ros-melodic-navigation

4.視覺加激光建圖導航

參照相關launch文件即可，環境配置準確

總結

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