通过网页快速了解Linux(Ubuntu)和ROS机器人操作系统,请参考实验楼在线系统如下:
初级教程可参考:https://www.shiyanlou.com/courses/854 邀请码:U23ERF8H
中级教程可参考:https://www.shiyanlou.com/courses/938 邀请码:U9SVZMKH
一直在寻找一个示例可以将ROS学习中常用的基础内容大部分都包含进去,最好还包括Gazebo仿真,
这样即使没有硬件设备,也可以很好的学习ROS相关内容,但又必须有对应的硬件,便于后续研究。
这里,介绍一款意外发现的ROS的robot示例----evarobot----
官方教程网址:http://wiki.ros.org/Robots/evarobot
仿真源码网址:https://github.com/inomuh/evarobot_simulator
下面进入正文:
下载功能包后,在catkin_ws中进行编译,一切ok,就可以使用这个功能包了。
~/catkin_ws$ catkin_make
有可能遇到一些问题,可能需要下面命令:
~/catkin_ws$ source devel/setup.bash
~/catkin_ws$ rosdep install --from-path src/ -y -i
~/catkin_ws$ rosstack profile & rospack profile
上面步骤完成后,就可以复习常用的ROS命令:
~$ rosstack find evarobot_simulator /home/exbot/catkin_ws/src/evarobot_simulator/evarobot_simulator
exbot@relay-Aspire-4741:~$ rospack find evarobot_gazebo /home/exbot/catkin_ws/src/evarobot_simulator/evarobot_gazebo exbot@relay-Aspire-4741:~$ rosls evarobot_gazebo cfg CMakeLists.txt launch map src CHANGELOG.rst include LICENSE package.xml worlds
其他还有roscd等,不一一列举。在终端运行:
~$ roslaunch evarobot_gazebo evarobot.launch
~$ rosnode list /gazebo /joint_state_publisher /robot_state_publisher /rosout /twist_marker_server ~$ rostopic list /camera/depth/camera_info /camera/depth/image_raw /camera/depth/points /camera/parameter_descriptions /camera/parameter_updates /camera/rgb/camera_info /camera/rgb/image_raw /camera/rgb/image_raw/compressed /camera/rgb/image_raw/compressed/parameter_descriptions /camera/rgb/image_raw/compressed/parameter_updates /camera/rgb/image_raw/compressedDepth /camera/rgb/image_raw/compressedDepth/parameter_descriptions /camera/rgb/image_raw/compressedDepth/parameter_updates /camera/rgb/image_raw/theora /camera/rgb/image_raw/theora/parameter_descriptions /camera/rgb/image_raw/theora/parameter_updates /clock /cmd_vel /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/sensor/Bumper /gazebo/set_link_state /gazebo/set_model_state /imu /ir0 /ir0/parameter_descriptions /ir0/parameter_updates /ir1 /ir1/parameter_descriptions /ir1/parameter_updates /ir2 /ir2/parameter_descriptions /ir2/parameter_updates /ir3 /ir3/parameter_descriptions /ir3/parameter_updates /joint_states /lidar /odom /rosout /rosout_agg /sonar0 /sonar0/parameter_descriptions /sonar0/parameter_updates /sonar1 /sonar1/parameter_descriptions /sonar1/parameter_updates /sonar2 /sonar2/parameter_descriptions /sonar2/parameter_updates /sonar3 /sonar3/parameter_descriptions /sonar3/parameter_updates /sonar4 /sonar4/parameter_descriptions /sonar4/parameter_updates /sonar5 /sonar5/parameter_descriptions /sonar5/parameter_updates /sonar6 /sonar6/parameter_descriptions /sonar6/parameter_updates /tf /tf_static /twist_marker_server/feedback /twist_marker_server/update /twist_marker_server/update_full
~$ rosrun rqt_reconfigure rqt_reconfigure
~$ rviz
~$ rosrun rqt_graph rqt_graph
~$ rosrun rqt_console rqt_console
~$ rosrun rqt_plot rqt_plot /cmd_vel
在Gazebo环境中加入一些物体:
$ rosrun rqt_image_view rqt_image_view
可以使用键盘,手柄或手机遥控gazebo中的机器人运动,观察各类传感器数据的变化。
也可以在虚拟仿真环境中,测试各类图像算法等,构建自己的3D模型等,这里不再赘述。
如果想要查看点云,可以通过rviz:
~$ roslaunch evarobot_gazebo evarobot.launch world_path:=$(rospack find evarobot_gazebo)/worlds/UPlat.sdf
~$ roslaunch evarobot_slam gazebo_slam.launch
~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
~$ roslaunch evarobot_viz view_evarobot.launch
~$ rosrun map_server map_saver -f $(rospack find evarobot_slam)/gazebo_map/map
~$ roslaunch evarobot_navigation gazebo_navigation.launch world_path:=$(rospack find evarobot_gazebo)/worlds/UPlat.sdf
遇到点小问题,还未解决。
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