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Package Summary

Tags No category tags.
Version 0.0.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rupingcen/mick_robot.git
VCS Type git
VCS Version master
Last Updated 2024-12-24
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
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
  1. 下载代码
    cd ~/ros2_ws/src
    git clone https://github.com/RuPingCen/mick_robot.git 
    
  1. 返回到工作空间主目录,使用colcon build进行编译:
    cd ~/ros2_ws
    colcon build
    
  1. 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
    
  1. 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

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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