国产ros小车及相关文档

http://wiki.ros.org/cn/xiaoqian

机器人参数

教程

http://wiki.ros.org/Robots/Roch

2 roch 文档

Roch

ROS Software Maintainer: SawYer-Robotics

Roch(robot platform for commecial and home) integrated multiple different RGBD cameras and lidars like Microsoft's Kinect, Asus' Xtion Pro, Intel' Realsense 200 and Slamtec' Rplidar A1/A2 etc. Mainly used for business and family.

Contents

1. Roch
   1. Configure Your Roch
   2. Bringup
   3. Teleoperation
   4. Navigation
   5. Simulation
   6. Other things
   7. Full installation
   8. Optional installation
   9. Installation
   10. Tutorials

Installation

• There have two options install roch ROS packages, choose one of these for install.

Full installation

Debain installation

For Debain installation, you can type under command.

  sudo apt-get install ros-indigo-roch-bringup ros-indigo-roch-navigation ros-indigo-roch-teleop ros-indigo-roch-follower ros-indigo-roch-rapps ros-indigo-roch-robot ros-indigo-roch-simulator ros-indigo-roch-viz

Source installation

For source installation, you can enter following command.

> sudo apt-get install python-rosdep python-wstool ros-indigo-ros> sudo rosdep init> rosdep update

If you created catkin workspace can skip under command, otherwise type following command:

> mkdir ~/catkin_ws> cd ~/catkin_ws

Compile code:

> wstool init -j5 src https://raw.github.com/SawYer-Robotics/roch_robot/indigo/roch.rosinstall>  rosdep install --from-paths src --ignore-src --rosdistro indigo -y>  catkin_make

Optional installation

• 1. Installation with roch
  • Roch package contains applications of ROS packages, like roch_navigation, roch_follower and roch_teleop etc.
• 2. Installation with roch_robot
  • Roch_robot package includes package lik drivers, roch_base, roch_ftdi, roch_bringup and roch_sensorpc etc.
• 3. Installation with roch_simulator
  • Roch_simulator package has almost simulators, New simulator will be released in the future.
• 4. Installation with roch_viz
  • Roch_viz is just for show roch in Rviz.

Tutorials

Configure Your Roch

• 1. Network Configuration
  • Let roch Communicate with your pc with network.
• 2. Param Configuration
  • Know the meaning of parameter with Roch.

Bringup

• 1. Roch bringup instructions
  • Roch bringup package' instructions.

Teleoperation

reference Turtlebot' Teleoperation.

• Teleop
  • Teleoperation with keyboard and Joystick of Roch.

Navigation

• SLAM map building with RGBD Sensors and lidar
  • How to generate a map with RGBD Sensors and lidars.

Simulation

• Gazebo with ROCH
  • Run Roch in Gazebo simulation.

Other things

• Roch follower
  • Roch follower with RGBD sensors and refrence turtlebot follower.