ROS Index
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Repository Summary
| Description | Fishbot运动控制程序MicroROS版本 |
| Checkout URI | https://github.com/fishros/fishbot_motion_control_microros.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-29 |
| 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 |
|---|---|
| fishbot_interfaces | 0.0.0 |
README
FishBot运动控制程序MicroROS版
配套运动控制板（可以在小鱼的店铺直接购买，性价比接地气，直达链接：https://item.taobao.com/item.htm?id=695473143304）：
配套开发教程
2.1 基础篇-嵌入式开发介绍与环境搭建
2.2 入门篇-从点灯开始学起
2.3 进阶篇-学会使用第三方库
2.4 基础篇-MicoRos介绍与安装
2.5 入门篇-在嵌入式平台实现话题与服务通信
1.话题订阅-控制LED 2.话题发布-上传电量信息 3.服务实现-两数相加
2.6 进阶篇-MicoROS原理与使用进阶
2.7 ROS2硬件实战（自制简易雷达）
2.8 FishBot控制系统搭建
- 1.移动机器人底盘结构介绍
- 2.从H桥说起-电机驱动原理介绍
- 3.电机控制之正反转实验
- 4.电机控制之速度控制实验
- 5.电机控制之使用开源库驱动多路电机
- 6.做个遥控车-订阅ROS2 Twist
- 7.从编码器说起-速度测量原理介绍
- 8.脉冲测量与校准实验
- 9.速度转换-机器人最大速度测量
- 10.控制速度-PID控制器实现
- 11.两轮差速机器人运动学介绍
- 12. 实时速度计算-运动学正解
- 13.目标速度控制-运动学逆解
- 14.里程计计算-速度积分
上位机运行指令
需要提前安装docker，可以使用一键安装进行。
WIFI,UDP模式
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6
Serial,串口模式
# Serial micro-ROS Agent
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev /dev/ttyUSB0 -v6 -b 921600
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial --dev /dev/ttyUSB0 -v6 -b 115200
其他指令
Merge BootLoad&Frameware
export boot_app0_dir="$HOME/.platformio/packages/framework-arduinoespressif32/tools/partitions"
docker run -it --rm --privileged -v=/dev:/dev -v $boot_app0_dir:$boot_app0_dir -v `pwd`:`pwd` -w `pwd` fishros2/fishbot-tool esptool.py --chip esp32 merge_bin -o bin/fishbot_motion_control_v1.0.0.`date +%y%m%d`.bin --flash_mode dio --flash_size 4MB 0x1000 .pio/build/featheresp32/bootloader.bin 0x8000 .pio/build/featheresp32/partitions.bin 0xe000 $boot_app0_dir/boot_app0.bin 0x10000 .pio/build/featheresp32/firmware.bin
CONTRIBUTING
No CONTRIBUTING.md found.
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