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mick_robot repositoryamcl mick_cartographer openslam_gmapping slam_gmapping navigation2 odom_tf mickrobot_bringup mickrobot_description imu_100d4_node keyboard oradar_lidar |
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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) |
Packages
Name | Version |
---|---|
amcl | 0.0.0 |
mick_cartographer | 0.0.0 |
openslam_gmapping | 0.1.2 |
slam_gmapping | 0.0.0 |
navigation2 | 0.0.0 |
odom_tf | 0.0.0 |
mickrobot_bringup | 0.0.0 |
mickrobot_description | 0.0.0 |
imu_100d4_node | 0.0.0 |
keyboard | 0.0.0 |
oradar_lidar | 0.0.0 |
README
mick_robot
mick_robot 是一个开源的自主导航小车项目名称,使用四轮差速小车和32线3D激光雷达作为传感器,2D导航框架是基于move_base进行修改,主要面向室内环境。3D导航框架对autoware代码就行修改和裁剪得到,面向室外环境。目前支持麦克纳姆轮和四轮差速底盘,该开源项目从机械装配部分开始,分享小车底层的嵌入式控制,上层的建图和导航部分,最终实现A点到B的自主导航。 当前master分支代码基于ROS2实现,分支ROS1为早期版本。更新说明
使用该导航代码需要自备一台实验小车,如有自行搭建小车底盘的想法可以参考我们另外一个开源项目: mick_robot_chassis ,更多的信息可以参考博客-熊猫飞天
mick_robot 包含移动机器人定位和导航部分算法开发
mick_robot_chasiss 包含移动机器人底盘的开发(机械设计/底层的嵌入式控制/PCB设计)
代码目录说明
- mick_bringup : 为麦克纳姆轮和四轮差速ROS底盘的ROS节点
- mick_description : 存放模型文件和URDF文件
- mick_navigation: move base导航配置文件
1 键盘控制小车
1.1 下载
mkdir -p ros2_ws/src
cd ros2_ws/src
git clone https://github.com/RuPingCen/mick_robot.git
1.2 安装依赖项 & 编译
colcon build
1.3 启动小车
打开串口权限:
sudo chmod 777 /dev/ttyUSB0
启动小车节点
ros2 run mick_bringup mick_bringup
1.4 启动键盘控制
新建一个终端向 小车命令接收话题 /cmd_vel 话题发送数据
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}}"
利用键盘控制节点控制小车,在目录 sensor_interface目录下有键盘控制节点 keyboard,启动该节点利用键盘方向件以及 w x a d s 按键 分别控制小车前、后、左、右、停止。
ros2 run keyboard keyboard
CONTRIBUTING
No CONTRIBUTING.md found.
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