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tide_controls_ws repositorytide_ctrl_bringup tide_gazebo tide_hw_interface tide_msgs tide_robot_description tide_gimbal_controller tide_shooter_controller |
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Repository Summary
Checkout URI | https://github.com/qinghuan0/tide_controls_ws.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-03-27 |
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 |
---|---|
tide_ctrl_bringup | 0.0.0 |
tide_gazebo | 1.0.0 |
tide_hw_interface | 0.0.0 |
tide_msgs | 0.0.0 |
tide_robot_description | 0.0.0 |
tide_gimbal_controller | 0.0.0 |
tide_shooter_controller | 0.0.0 |
README
TideControls
注意事项
- 请使用foxglove取代rviz和rqt
- 请根据需要自行配置foxglove面板,如果可视化的模型错乱,请将
```选项设置为 ```z-up
- 运行设备需要更换rt实时内核,推荐xanmod-rt内核👍
- 编译命令
./build.sh all
(全编译)、./build.sh package
(编译单个包,package为你要编译的包名) - 若需要debug调试,编译时请添加 –debug 参数,如
./build.sh all --debug
,并在vscode的左侧调试选项中选择 launch.json 配置文件 - can设备使能命令
./enable_socketcan can0
(单个使能,can0为需要使能的端口)、./enable_socketcan all
全部使能(默认只有can0和can1,若超过两个can设备请修改脚本) - 运行仿真:
ros2 launch tide_ctrl_bringup tide_ctrl_bringup.launch.py sim_mode:=true robot_type:=sentry world:=RMUL2025
(机器人类型和gazebo地图模型修改为你需要的) - 如果嫌gazebo太卡,不需要gazebo仿真,请将兵种_real.xacro中的
enable_virtual_control
参数设置为true
,并将兵种_real.yaml中的open_loop
参数设置为true
(需要控制真实硬件时请改为false关闭开环模式),然后运行实车
,打开foxgolve
可视化软件即可,无需担心疯车,因为这不会启用真实硬件 - ⚠️运行实车:
ros2 launch tide_ctrl_bringup tide_ctrl_bringup.launch.py sim_mode:=false robot_type:=sentry
⚠️:第一次运行实车前,如果需要控制真实硬件,请将兵种_real.xacro中的
```参数设置为
```false
```关闭虚拟控制,以及
```need_calibration
```参数设置为
```true
```开启校准模式,手动将云台摆放到你期望的初始位置,将终端输出结果填到对应电机关节的
```offset
```参数(较烦琐待优化),否则会有疯车风险!!
## 安装依赖
rosdepc install -r –from-paths src –ignore-src –rosdistro $ROS_DISTRO -y
```
CONTRIBUTING
No CONTRIBUTING.md found.
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