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ROS2机器人案例学习linorobot2机器人模型


ROS2之G/F版本支持较多的机器人为turtlebot3和即将发布的turtlebot4:

turtlebot4+树莓派4+ros2专属机器人 2022

ros@ros:~$ sudo apt install ros-noetic-

Display all 2587 possibilities? (y or n)

ros@ros:~$ sudo apt install ros-galactic-

Display all 1323 possibilities? (y or n)

ros@ros:~$ sudo apt install ros-foxy-

Display all 1517 possibilities? (y or n) 

如果学习导航包,并且想自己从零起步搞定一款机器人,可以参考:

linorobot2,如下引用

ROS2机器人案例学习linorobot2机器人模型_apache

ROS2机器人案例学习linorobot2机器人模型_机器人操作系统_02 

编译完成即可学习机器人模型/SLAM/导航等。

export LINOROBOT2_BASE=2wd

ros2 launch linorobot2_description description.launch.py

ros2 launch linorobot2_viz robot_model.launch.py

ROS2机器人案例学习linorobot2机器人模型_python_03

export LINOROBOT2_BASE=mecanum

ros2 launch linorobot2_description description.launch.py

ros2 launch linorobot2_viz robot_model.launch.py

ROS2机器人案例学习linorobot2机器人模型_python_04

Gazebo:

ros2 launch linorobot2_gazebo gazebo.launch.py 

ROS2机器人案例学习linorobot2机器人模型_ide_05

ROS2机器人案例学习linorobot2机器人模型_机器人操作系统_06 

这部分没什么代码就是一个启动配置。引用自源码:

# Copyright (c) 2021 Juan Miguel Jimeno
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http:#www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
use_sim_time = True

joy_launch_path = PathJoinSubstitution(
[FindPackageShare('linorobot2_bringup'), 'launch', 'joy_teleop.launch.py']
)

ekf_config_path = PathJoinSubstitution(
[FindPackageShare("linorobot2_base"), "config", "ekf.yaml"]
)

world_path = PathJoinSubstitution(
[FindPackageShare("linorobot2_gazebo"), "worlds", "playground.world"]
)

description_launch_path = PathJoinSubstitution(
[FindPackageShare('linorobot2_description'), 'launch', 'description.launch.py']
)

return LaunchDescription([
ExecuteProcess(
cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', '-s', 'libgazebo_ros_init.so', world_path],
output='screen'
),

Node(
package='gazebo_ros',
executable='spawn_entity.py',
name='urdf_spawner',
output='screen',
arguments=["-topic", "robot_description", "-entity", "linorobot2"]
),

Node(
package='linorobot2_gazebo',
executable='command_timeout.py',
name='command_timeout'
),

Node(
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node',
output='screen',
parameters=[
{'use_sim_time': use_sim_time},
ekf_config_path
],
remappings=[("odometry/filtered", "odom")]
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(description_launch_path),
launch_arguments={
'use_sim_time': str(use_sim_time),
'publish_joints': 'false',
}.items()
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(joy_launch_path),
)
])

#sources:
#https://navigation.ros.org/setup_guides/index.html#
#https://answers.ros.org/question/374976/ros2-launch-gazebolaunchpy-from-my-own-launch-file/
#https://github.com/ros2/rclcpp/issues/940





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