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
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
export LINOROBOT2_BASE=mecanum
ros2 launch linorobot2_description description.launch.py
ros2 launch linorobot2_viz robot_model.launch.py
Gazebo：
ros2 launch linorobot2_gazebo gazebo.launch.py
这部分没什么代码就是一个启动配置。引用自源码：
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# Copyright (c) 2021 Juan Miguel Jimeno
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http:#www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
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from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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use_sim_time = True
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joy_launch_path = PathJoinSubstitution(
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[FindPackageShare('linorobot2_bringup'), 'launch', 'joy_teleop.launch.py']
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)
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ekf_config_path = PathJoinSubstitution(
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[FindPackageShare("linorobot2_base"), "config", "ekf.yaml"]
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)
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world_path = PathJoinSubstitution(
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[FindPackageShare("linorobot2_gazebo"), "worlds", "playground.world"]
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)
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description_launch_path = PathJoinSubstitution(
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[FindPackageShare('linorobot2_description'), 'launch', 'description.launch.py']
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)
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return LaunchDescription([
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ExecuteProcess(
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cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', '-s', 'libgazebo_ros_init.so', world_path],
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output='screen'
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),
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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name='urdf_spawner',
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output='screen',
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arguments=["-topic", "robot_description", "-entity", "linorobot2"]
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),
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Node(
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package='linorobot2_gazebo',
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executable='command_timeout.py',
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name='command_timeout'
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),
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Node(
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package='robot_localization',
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executable='ekf_node',
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name='ekf_filter_node',
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output='screen',
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parameters=[
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{'use_sim_time': use_sim_time},
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ekf_config_path
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],
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remappings=[("odometry/filtered", "odom")]
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(description_launch_path),
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launch_arguments={
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'use_sim_time': str(use_sim_time),
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'publish_joints': 'false',
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}.items()
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(joy_launch_path),
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)
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])
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#sources:
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#https://navigation.ros.org/setup_guides/index.html#
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#https://answers.ros.org/question/374976/ros2-launch-gazebolaunchpy-from-my-own-launch-file/
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#https://github.com/ros2/rclcpp/issues/940
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/124620482
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