ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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Repository Summary
| Description | |
| Checkout URI | https://github.com/kazu-321/autorobo.universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-10-08 |
| 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) |
Packages
| Name | Version |
|---|---|
| autorobo_behavior | 0.0.0 |
| autorobo_teleop | 0.0.0 |
| autorobo_visualization | 0.0.0 |
| autorobo_control | 0.0.0 |
| autorobo_launch | 0.0.0 |
| autorobo_localization | 0.0.0 |
| autorobo_map | 0.0.0 |
| autorobo_msgs | 0.0.0 |
| autorobo_planner | 0.0.0 |
| autorobo_simulation | 0.0.0 |
README
autorobo.universe
2024NHK高専ロボコン 茨城高専Bチーム
ごじゃっペサーカスR1の制御です。
important!
ライセンス整備がまだです！
Screencast from 2024年10月08日 09時55分05秒.webm
ビルド
$ # cd to your ws
$ cd src
$ git clone https://github.com/kazu-321/autorobo.universe
$ cd ../
$ colcon build
$ source install/setup.bash
実行
シミュレーターの起動
$ ros2 launch autorobo_launch sim.launch.xml
電源オン、navオンの状態で起動します
子機(サル)などを一通り射出したらGoalを自分で設定できます
gキーを押して画面をクリックしたらそこへロボットが移動します
ロボットは常に前を向くようにしています
teleop
teleop key
$ ros2 run autorobo_teleop teleop_key
バックグラウンドteleop key
$ ros2 run autorobo_teleop background_key
teleopの操作方法
- cキー
- コンティニュー
- ロボコンのルールに基づいた遠隔非常停止解除用 - pキー
- ポーズ
- 再度コンティニュー(c)すればロボットを動かせる - waxdキー
- 4方向移動
- nav offの状態じゃないと動けない - sキー
- ユーザー入力による移動ストップ - nキー
- 自動運転のon off切り替え用
- 最初はon - oキー
- 射出許可など自動運転時に安全のためにあるボタン
- コンティニュー&&自動運転on ならパスが生成されたりする
未検証
- rosbag関係のlaunch
- 実際に使用した慣性モデル付きのシミュレーター
Node Graph
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
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