课程1练习说明

主要内容（围绕这类复习）：

• ROS 体系结构
• ROS 主节点和主题
• 控制台命令
• Catkin工作区和编译系统
• 启动（launch）-文件

练习题：

1. 依据网页链接，完成Husky仿真环境配置，并启动。（ROS版本为Kinetic），可能需要源码编译。

说明：国内镜像测试并没有安装包，源码（https://github.com/husky/husky/tree/kinetic-devel）编译如下：

$ catkin build 

应该不会报错，但是执行时候会有问题，只要将缺失包安装就好。参考wiki说明进行操作。

$ export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

$ roslaunch husky_gazebo husky_empty_world.launch

$ roslaunch husky_gazebo husky_playpen.launch

$ roslaunch husky_gazebo husky_empty_world.launch world_name:=worlds/willowgarage.world 

2. 启动其中一个仿真，对下面命令进行练习和操作（对应第一课11-12页）。

rosnode list 、rostopic list 、rostopic echo [TOPIC] 、rostopic hz [TOPIC] 、rqt_graph。

relaybotbox@relaybotbox:~/tools/husky-simulation$ rostopic list
/clock
/cmd_vel
/diagnostics
/e_stop
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/husky_velocity_controller/cmd_vel
/husky_velocity_controller/odom
/imu/data
/imu/data/accel/parameter_descriptions
/imu/data/accel/parameter_updates
/imu/data/bias
/imu/data/rate/parameter_descriptions
/imu/data/rate/parameter_updates
/imu/data/yaw/parameter_descriptions
/imu/data/yaw/parameter_updates
/initialpose
/joint_states
/joy_teleop/cmd_vel
/map
/map_metadata
/master_discovery/changes
/master_discovery/linkstats
/move_base/cancel
/move_base/feedback
/move_base/goal
/move_base/result
/move_base/status
/move_base_simple/goal
/navsat/fix
/navsat/fix/position/parameter_descriptions
/navsat/fix/position/parameter_updates
/navsat/fix/status/parameter_descriptions
/navsat/fix/status/parameter_updates
/navsat/fix/velocity/parameter_descriptions
/navsat/fix/velocity/parameter_updates
/navsat/vel
/odometry/filtered
/public/robot/cmd_vel
/public/robot/initialpose
/public/robot/map
/public/robot/map_metadata
/public/robot/move_base/cancel
/public/robot/move_base/feedback
/public/robot/move_base/goal
/public/robot/move_base/result
/public/robot/move_base/status
/public/robot/move_base_simple/goal
/public/robot/odometry/filtered
/public/robot/twist_marker_server/feedback
/public/robot/twist_marker_server/update
/public/robot/twist_marker_server/update_full
/public/tf
/public/tf_static
/rosout
/rosout_agg
/scan
/set_pose
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full

3. 通过终端发送一个速度指令给机器人rostopic pub [TOPIC]（对应第一课13页）。

$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear: x: 0.8 y: 0.0 z: 0.0

angular: x: 0.0 y: 0.0 z: 0.6"

4. 编写代码使用键盘或者手柄遥控机器人运动（对应第一课22-26页）。

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

5. 新建launch文件使用robotcup环境，并且使用键盘控制机器人运动。

$ roslaunch husky_gazebo husky_robocup14.launch

  

   

    

     

    
    

     

      <?xml version="1.0"?>
     
    
   

    

     

    
    

     

      <!--
     
    
   

    

     

    
    

     

      -->
     
    
   

    

     

    
    

     

      <launch>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  <arg name="world_name" default="/usr/share/gazebo-7/worlds/robocup14_spl_field.world"/>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  <arg name="laser_enabled" default="true"/>
     
    
   

    

     

    
    

     
  <arg name="kinect_enabled" default="false"/>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
     
    
   

    

     

    
    

     
 <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
     
    
   

    

     

    
    

     
 <arg name="paused" value="false"/>
     
    
   

    

     

    
    

     
 <arg name="use_sim_time" value="true"/>
     
    
   

    

     

    
    

     
 <arg name="gui" value="true"/>
     
    
   

    

     

    
    

     
 <arg name="headless" value="false"/>
     
    
   

    

     

    
    

     
 <arg name="debug" value="false"/>
     
    
   

    

     

    
    

     
  </include>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
     
    
   

    

     

    
    

     
 <arg name="laser_enabled" value="$(arg laser_enabled)"/>
     
    
   

    

     

    
    

     
 <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
     
    
   

    

     

    
    

     
  </include>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  <node pkg="teleop_twist_keyboard" name="teleop_husky" type="teleop_twist_keyboard.py"/>
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      </launch>
     
    
  
 

评分标准和提示，参考英文原文。

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附录：习题原文

Note: theworld_name is with respect to /usr/share/gazebo-7/

- 
teleop_twist_keyboard node

Evaluation

❏    Check if teleop_twist_keyboardis compiled from source (roscd teleop_twist_keyboard should show the catkin_ws folder)                                                                      [40%]

❏    Start the launch file. Thisshould bring everything up that’s needed to drive Husky with the keyboard asshown in the above image.                                                                                  [60%]

Hints

●     If the robot stops again after sending the velocity command, specifythe rate of the publisher. Check out rostopic pub --help.

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文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/79463992