ROS2机器人案例学习linorobot2机器人模型

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zhangrelay 发表于 2022/05/08 01:02:13 2022/05/08
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【摘要】 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:...

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:


      # 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
  
 

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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