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tms_rc_rtkbot package from mobile-manipulator-planning repo

ktmpb hpp-doc path_modification ramp ramp_control ramp_debug ramp_launch ramp_msgs ramp_planner ramp_sensing trajectory_evaluation trajectory_generator trajectory_visualisation moveit_tmp_capabilities moveit_tmp moveit_tmp_msgs base_placement_plugin map_creator reuleaux workspace_visualization bt_kuka erl_rnt kuka_kmr_description kuka_kmr_iiwa_config kuka_kmr_iiwa_description kuka_kmr_iiwa_lbr_arm_ikfast_plugin kuka_kmr_iiwa_tasks kuka_kmr_nav kuka_lbr_arm_config kuka_lbr_arm_description kuka_msgs amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid object_tracking realsense2_description robots_models rsd simulation environmental_model ros_tms tms_db_manager tms_db_state_publisher corridor_viewer tms_msg_db tms_msg_rc tms_msg_rp tms_msg_rs tms_msg_sa tms_msg_sd tms_msg_ss tms_msg_ts tms_msg_ur tms_nw_api tms_nw_rp tms_nw_svr tms_rc_bed tms_rc_bot tms_rc_double tms_rc_katana tms_rc_kobuki_control kobuki_navigation kobuki_slam kobuki_tf tms_rc_kobuki_virtual_control tms_rc_kxp_virtual_control tms_rc_mimamorukun_control tms_rc_ninebot tms_rc_pot tms_rc_rtkbot tms_rc_smartpal_action tms_rc_smartpal_control tms_rc_smartpal_control_test tms_rc_smartpal_tagreader tms_rc_smartpal_tts tms_rc_smartpal_virtual_control tms_rc_turtlebot_control tms_rc_turtlebot3 rostms_bringup rostms_description rostms_gazebo rostms_moveit_config skeleton_description smartpal5_arm_navigation smartpal5_description smartpal5_gazebo smartpal5_moveit_config tms_rp_path_planning tms_rp_voronoi_map tms_rs_action tms_rs_greeting_demo tms_rs_refrigerator tms_ss_ibs tms_ss_kinect_v2 tms_ss_nfbed tms_ss_ninebot_pozyx tms_ss_pot tms_ss_pozyx tms_ss_ps_manager tms_ss_tracker tms_ss_vicon tms_ss_vs tms_ss_watch tms_ss_whs1 tms_ss_xtion tms_ts_smach tms_ts_subtask tms_ts_ts tms_ur_gaze_server tms_ur_listener tms_ur_slack tms_ur_speaker

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	Collection of resorces avaiable for mobile manipulator planning
Checkout URI	https://github.com/sandakalum/mobile-manipulator-planning.git
VCS Type	git
VCS Version	main
Last Updated	2023-01-16
Dev Status	UNKNOWN
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

The tms_rc_rtkbot package

Additional Links

No additional links.

Maintainers

todo

Authors

No additional authors.

Service_robot_system_with_an_informationally_structured_environment_Robotics_and_Autonomous_Systems/ros_tms-develop/tms_rc/tms_rc_rtkbot/README.md

tms_rc_rtkbot

動かし方

NUCでnavigation.launchを，モニタ用PCでmonitor.launchを立ち上げてください．

また，ネットワーク型RTKを使用する場合は，NUCでBNCを立ち上げてください．(下記参照)

更に，P²-Senを利用する場合は，tms_ss_pot内のminimal.launchを立ち上げてください．

追加で必要なパッケージ

aptで入手

ros-kinetic-nmea-msgs
ros-kinetic-pointcloud-to-laserscan
GitHubから入手
ros-kinetic-nmea-navsat-driver

(2020/02/09現在，driver.pyに以下の2つのバグがあるので，使うときは修正してください)

PublisherのQueue Sizeが1だと動かない可能性が高いので，適当なサイズに変更
RTK FixとRTK Floatに同じステータス番号(NavSatStatus.STATUS_GBAS_FIX = 2)が割り当てられているので，区別できるように変更(tms_rc_rtkbotでは，Float=2，Fix=3として扱っています)

pipで入手

pyproj

サイトから入手

BKG Ntrip Client (BNC) <- (ネットワーク型RTKを使用する場合)

シリアルの設定

シリアルを一般ユーザで使う設定(初めてのときだけで良い)

sudo gpasswd -a ユーザ名 dialout

後は再ログインすればOK

/etc/udev/rules.d/99-serial.rulesを作成し，以下の内容を記述

SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", SYMLINK+="nucleo", MODE="0666"
SUBSYSTEM=="tty", ATTRS{idVendor}=="04bb", ATTRS{idProduct}=="0a0e", SYMLINK+="usb_rsaq5", MODE="0666"

これでマイコンボードは/dev/nucleoとして，USB-Serialコネクタは/dev/usb_rsaq5として扱える．
(/dev/ttyACM*で数字が変わる問題に悩まされない) (詳しくはQiitaなどを参考に)

BKG Ntrip Client (BNC)の使い方 (ネットワークRTK使用時)

実行ファイルの名前をbncとすると，基本的には以下で立ち上がります．

./bnc

起動後，適宜設定を入力して使ってください．

また，設定はファイルに保存できます．設定ファイルの名前をrtk.bncとすると，

./bnc --conf rtk.bnc

というように，confというオプションを付けることで，設定を読み込んだ状態で立ち上げられます．

また，nwというオプションを付けることで，no windowモードで立ち上げられます． SSH利用時など，コマンドラインで処理を完結したい場合はこれを使って，以下のように立ち上げてください．

./bnc --conf rtk.bnc --nw

詳しくは，公式のドキュメントを参照してください．

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
	roscpp
	rospy
	tf
	turtle_sim
	urg_node
	std_msgs
	message_generation
	catkin
	message_runtime

System Dependencies

Name
python-numpy

Dependant Packages

No known dependants.

Launch files

launch/monitor.launch
launch/navigation.launch
- - move_base [default: true]
launch/rtk_unit_test.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tms_rc_rtkbot` at Robotics Stack Exchange

API Docs Browse Code

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