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mickrobot_bringup package from mick_robot repoamcl mick_cartographer openslam_gmapping slam_gmapping navigation2 odom_tf mickrobot_bringup mickrobot_description imu_100d4_node keyboard oradar_lidar |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | 基于ROS2的移动机器人导航开源项目 |
| Checkout URI | https://github.com/rupingcen/mick_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-12-24 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | autonomous-car autonomous-vehicles mick-robot |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS2 package using serial library
Additional Links
No additional links.
Maintainers
- user
Authors
No additional authors.
环境说明
该节点使用的是ROS2的Galactic版本，使用鱼香ROS的一键安装，按照步骤来即可
wget http://fishros.com/install -O fishros && . fishros
接着需要安装NAV2的包（可能需要单独安装，以防万一）
sudo apt install ros-$ROS_DISTRO-nav2-*
然关于ROS2串口驱动的安装，参考CSDN的一篇文章 ROS2 Serial串口驱动
但是由于ROS2没有再封装串口库serial，因此需要手动安装serial：
git clone https://github.com/ZhaoXiangBox/serial
cd serial && mkdir build
cmake .. && make
sudo make install
编译运行底盘 ROS 节点
- 下载代码
cd ~/ros2_ws/src
git clone https://github.com/RuPingCen/mick_robot.git
- 返回到工作空间主目录，使用colcon build进行编译:
cd ~/ros2_ws
colcon build
- 在运行之前，由于节点里面涉及到串口的打开，因此需要先打开串口权限:
sudo chmod 777 /dev/ttyUSB0
- 最后在编译无报错之后就可以运行了:
sourse install/setup.bash
ros2 launch mick_bringup mickrobotx4.launch.py
通过命令行控制小车
可以将小车垫高，随后在命令行终端里输入以下指令：
ros2 topic pub -r 100 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"
键盘控制小车底盘
底盘代码包中包含一个键盘控制节点， ‘w’ ‘x’ ‘a’ ‘d’ ‘s’ 分别表示前 后 左 右 停止。
sourse install/setup.bash
ros2 run keyboard keyboard
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rclcpp | |
| tf2 | |
| tf2_ros | |
| tf2_geometry_msgs | |
| sensor_msgs | |
| nav_msgs | |
| ament_cmake |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mickrobot_bringup at Robotics Stack Exchange
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