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ros2_patrol_robot repositoryautopatrol_interfaces autopatrol_robot fishbot_application fishbot_application_cpp fishbot_description fishbot_navigation2 |
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Repository Summary
| Description | 基于 ROS 2 和 Navigation 2 的自动巡检机器人。 |
| Checkout URI | https://github.com/fishros/ros2_patrol_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-06-21 |
| 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 |
|---|---|
| autopatrol_interfaces | 0.0.0 |
| autopatrol_robot | 0.0.0 |
| fishbot_application | 0.0.0 |
| fishbot_application_cpp | 0.0.0 |
| fishbot_description | 0.0.0 |
| fishbot_navigation2 | 0.0.0 |
README
基于 ROS 2 和 Navigation 2 自动巡检机器人
1.项目介绍
本项目基于 ROS 2 和 Navigation 2 设计了一个自动巡检机器人仿真功能。
该巡检机器人要能够在不同的目标点之间进行循环移动，每到达一个目标点后首先通过语音播放到达的目标点信息，接着通过摄像头采集一张实时的图像并保存到本地。
各功能包功能如下：
- fishbot_description 机器人描述文件，包含仿真相关配置
- fishbot_navigation2 机器人导航配置文件
- fishbot_application 机器人导航应用 Python 代码
- fishbot_application_cpp 机器人导航应用 C++ 代码
- autopatrol_interfaces 自动巡检相关接口
- autopatrol_robot 自动巡检实现功能包
2.使用方法
本项目开发平台信息如下：
- 系统版本： Ubunt22.04
- ROS 版本：ROS 2 Humble
2.1安装
本项目建图采用 slam-toolbox，导航采用 Navigation 2 ,仿真采用 Gazebo，运动控制采用 ros2-control 实现，构建之前请先安装依赖，指令如下：
- 安装 SLAM 和 Navigation 2
sudo apt info ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox
- 安装仿真相关功能包
sudo apt install ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-xacro
- 安装语音合成和图像相关功能包
sudo apt install python3-pip -y
sudo apt install espeak-ng -y
pip3 install espeakng
sudo apt install ros-$ROS_DISTRO-tf-transformations
sudo pip3 install transforms3d
2.2运行
安装完成依赖后，可以使用 colcon 工具进行构建和运行。
构建功能包
colcon build
运行仿真
source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py
运行导航
source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py
运行自动巡检
source install/setup.bash
ros2 launch autopatrol_robot autopatrol.launch.py
3.作者
CONTRIBUTING
No CONTRIBUTING.md found.
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