机器人考核

基础环境配置

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# 安装 ROS Melodic 并设置 ROS 环境
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sudo apt update 
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sudo apt install ros-melodic-desktop-full 
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echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc 
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source ~/.bashrc
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# 安装 TurtleBot3 包
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sudo apt install ros-melodic-turtlebot3 
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sudo apt install ros-melodic-turtlebot3-simulations
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# 配置 TurtleBot3 的环境变量以选择使用的模型
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echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc 
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source ~/.bashrc

建模

终端1

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# 修改bashrc文件后执行
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source ~/.bashrc

终端2

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ssh wheeltec@192.168.4.204
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roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch

终端3

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ssh wheeltec@192.168.4.204
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roslaunch wheeltec_robot_rc keyboard_teleop.launch

终端4

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ssh wheeltec@192.168.4.204
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roslaunch turn_on_wheeltec_robot mapping.launch 
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(err_re)  roslaunch turn_on_wheeltec_robot mapping.launch

终端5

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rviz

终端6

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rosrun map_server map_saver -f $HOME/ysd_map

导航

终端0

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修改文件：/home/wheeltec/ysd_map.pgm

终端1

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scp ~/ysd_map.yaml wheeltec@192.168.4.204:~/ysd_map.yaml
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scp ~/ysd_map.pgm wheeltec@192.168.4.204:~/ysd_map.pgm

终端2

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ssh wheeltec@192.168.4.204
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roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch

终端3

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roslaunch turn_on_wheeltec_robot navigation.launch map_file:=$HOME/ysd_map.yaml

终端4

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rviz