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社区首页 >专栏 >MIT小黄鸭智能车课程(适用于中小学和大学的机器人教学方案)

MIT小黄鸭智能车课程(适用于中小学和大学的机器人教学方案)

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zhangrelay
发布2019-01-23 15:24:02
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发布2019-01-23 15:24:02
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文章被收录于专栏:机器人课程与技术

MIT小黄鸭无人车(Duckietown is a robotics educations and outreach effort.)

课程官网如下,点击图片可直接进入(旧版链接:http://duckietown.mit.edu/):

英文:http://duckietown.org/

中文:http://www.duckietown.cn/

----重要资料----必备基础ROS+Gazebo+Python等。

github:https://github.com/duckietown/

如果没有实物可以尝试gazebo仿真,效果如下:

----

Duckietown Environment and Duckiebot in gazebo

With this folder, you can run duckietown environment and control robot with gazebo.

Install Depencencies

Requirements:

  • Python 2
  • ROS Kinetic
  • Gazebo 7 (not Gazebo 8!)

NOTE: To build successfully, maybe you need to install a lot ros packages. Based on the error message, use sudo apt-get install ros-kinetic-packagename.

TODO: complete the list of depencencies to install.

代码语言:javascript
复制
sudo apt-get install \
ros-kinetic-xacro

# Python packages
pip install \
catkin_pkg \
catkin-tools \
defusedxml \
pyzmq \
rospkg \
pygazebo==3.0.0-2014.1

Build and run duckietown environment with a duckiebot

代码语言:javascript
复制
source /opt/ros/kinetic/setup.bash
cd simulator
catkin build
source devel/setup.bash
cd src/duckietown_gazebo
source env_gazebo.sh
cd ..
./run_gazebo.sh

You will see a Duckiebot in Duckietown now.

In gazebo, shortcut "Ctrl+T" can call out "Gazebo: Topic Selector" window. Then click topic /gazebo/default/mybot/chassis/camera1/imageunder gazebo.msgs.ImageStamped, a camera window of dockiebot will show up.

You can also control robot through publish messege to topic with command rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.2 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1" or ./run_cmd

----课程详细介绍,英文原文:

----

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原始发表:2018年03月28日,如有侵权请联系 cloudcommunity@tencent.com 删除

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目录
  • Duckietown Environment and Duckiebot in gazebo
    • Install Depencencies
      • Build and run duckietown environment with a duckiebot
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