turtlebot学习记录for ros

时间：2015-02-09 23:12:25 阅读：408 评论：0 收藏：0 [点我收藏+]

标签：ros

具体参考：http://wiki.ros.org/Robots/TurtleBot

1. 安装：

   sudo apt-get install ros-hydro-turtlebot ros-hydro-turtlebot-apps ros-   hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi> . /opt/ros/hydro/setup.bash
      rosrun kobuki_ftdi create_udev_rules
环境配置： echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc

注：        wstool provides commands to manage several local SCM repositories
   (supports git, mercurial, subversion, bazaar) based on a single
   workspace definition file (.rosinstall).
        wstool replaces the rosws tool for catkin workspaces.
        wstool is not a rewrite. It is intended to reuse most of the rosws
   tool   code and thus also produce .rosinstall files that are compatible    with   those used by rosws.

创建工作空间
   > mkdir ~/turtlebot
   > cd ~/turtlebot
   > wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8
   > source /opt/ros/hydro/setup.bash
   > rosdep install --from-paths src -i -y
   > catkin_make

   kobuki :
   source ~/turtlebot/devel/setup.bash
   > rosrun kobuki_ftdi create_udev_rules

   echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

Network Time Protocol
Install Chrony
    sudo apt-get install chrony

manually sync NTP
    sudo ntpdate ntp.ubuntu.com

网络配置：（无工作站就可不用设）

2. bringup

Deb Bringup Instructions
   > source /opt/ros/hydro/setup.bash
   # Without the app manager/android capabilities
   > roslaunch turtlebot_bringup minimal.launch
   # Launching with the app manager
   > roslaunch turtlebot_bringup minimal_with_appmanager.launch
   # For dual master app manager/android connectivity
   > rocon_launch turtlebot_bringup bringup.concert

Create dashboard
   rqt -s kobuki_dashboard
   > roslaunch turtlebot_dashboard turtlebot_dashboard.launch

3. 维护与保养（dashboard）
Power Management

4.3D Visualisation（显示）
   roslaunch turtlebot_bringup minimal.launch
   roslaunch turtlebot_bringup 3dsensor.launch
   roslaunch turtlebot_rviz_launchers view_robot.launch
选中： DepthCloud Registered DepthCloud Image PointCloud Registered PointCloud

5. 键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch

6 交互式标记控制 Interactive Markers Teleop
安装：
   sudo apt-get install ros-hydro-turtlebot-interactive-markers
服务：turtlebot_marker_server：
   roslaunch turtlebot_interactive_markers interactive_markers.launch
rviz：
   roslaunch turtlebot_rviz_launchers view_robot.launch
控制方法：
   勾中"Interactive Makers" ，选中面板工具顶部 "Interact"

7.校正：（   http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro   ）
   roslaunch turtlebot_calibration calibrate.launch
（First position TurtleBot at the center of a long straight wall (at least 2 meters long)rosrun rqt_reconfigure rqt_reconfigure , facing towards the wall, at about 30 cm away from the wall. ）

set the parameters ：
rosrun rqt_reconfigure rqt_reconfigure

高级应用：导航
8 使用gmapping建图：SLAM Map Building with TurtleBot
8.1导航功能介绍 Setup the Navigation Stack for TurtleBot
   网址：http://wiki.ros.org/turtlebot_navigation/Tutorials/Setup%20the%20Navigation%20Stack%20for%20TurtleBot
   Key files： turtlebot_navigation package
   Move base：Planner
       Change speed limits
       Goal tolerance
       Cost computing biases
   Amcl (localization)
   Gmapping (map building)

8.2 Launch the gmapping app
   Bring up the robot
       roslaunch turtlebot_bringup minimal.launch
   Run the gmapping demo app
       roslaunch turtlebot_navigation gmapping_demo.launch
   Launch rviz:
   # Groovy or later
       roslaunch turtlebot_rviz_launchers view_navigation.launch
   Drive the robot and Save the map
       rosrun map_server map_saver -f /tmp/my_map

9 自动导航   （http://wiki.ros.org/turtlebot_navigation）
Autonomous Navigation of a Known Map with TurtleBot
This tutorial describes how to use the TurtleBot with a previously known map.
启动;
   roslaunch turtlebot_bringup minimal.launch
运行导航DEMO并加载地图
   roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml
RVIZ显示
   # Groovy or later
   roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

9.1导航操作：
1. 定位turtlebot（初始化）: 2D Pose Estimate
2. 远程操作:可以与导航同时进行。远程控制优先级高于导航。
3. 发送目标：2D Nav Goal
   注：如果要在导航目标到达前让他停止，发送短一点到目标。

10 跟随   （http://wiki.ros.org/turtlebot_follower）
寻找窗口前方的目标，寻找质心并保持相应距离跟随。
10.1 跟随参数到更改
# groovy or later
rosrun rqt_reconfigure rqt_reconfigure
Select camera/follower on the reconfigure gui
Play with the parameters using the sliders; you will see the TurtleBot‘s following behavior change as you move the sliders.

11 全景演示 The TurtleBot Panorama Demo
   (http://wiki.ros.org/turtlebot_panorama)
Turtlebot-Android Pairing
   (http://wiki.ros.org/turtlebot_android/Tutorials/hydro/Turtlebot-Android%20Pairing)
turtlebot_android(http://wiki.ros.org/turtlebot_android)

turtlebot学习记录for ros

标签：ros

原文地址：http://blog.csdn.net/zyh821351004/article/details/43674399

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