{"id":347,"date":"2019-10-12T09:23:30","date_gmt":"2019-10-12T01:23:30","guid":{"rendered":"http:\/\/www.mustenaka.cn\/?p=347"},"modified":"2019-10-13T16:23:03","modified_gmt":"2019-10-13T08:23:03","slug":"ros_lesson01","status":"publish","type":"post","link":"https:\/\/www.mustenaka.cn\/index.php\/2019\/10\/12\/ros_lesson01\/","title":{"rendered":"ROS lesson01"},"content":{"rendered":"<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\"><\/code><\/pre>\n<p>ROS\u5b98\u7f51\uff1a<a href=\"https:\/\/www.ros.org\/\">https:\/\/www.ros.org\/<\/a>\uff0c\u5728\u4e0a\u9762\u4e0b\u8f7d\u57fa\u672c\u7684\u5b89\u88c5\u6587\u4ef6\uff0c\u8ddf\u7740\u6d41\u7a0b\u8d70\u5c31\u53ef\u4ee5\u4e86<\/p>\n<ul>\n<li><span>ROS Melodic Morenia \u5bf9\u5e94Ubuntu 18<\/span><\/li>\n<li><span>ROS Kinetic Kame <\/span>\u5bf9\u5e94Ubuntu16<\/li>\n<\/ul>\n<p><!--more--><\/p>\n<p>\u524d\uff0c\u5b89\u88c5ros\u673a\u5668\u4eba\u5185\u5bb9\uff0c\u4e2a\u4eba\u4ee5\u4e3a\u53ef\u4ee5\u7528shell\u5b9e\u73b0\u7f51\u7edc\u83b7\u53d6\u81ea\u52a8\u5316\uff0c\u5e76\u4e0d\u9700\u8981\u8fd9\u4e48\u590d\u6742\u7684\u89e3\u51b3\u5b89\u88c5\u8fc7\u7a0b\uff08\u5410\u69fd\uff09<\/p>\n<h1>\u5730\u56fe\u5bfb\u8def\u529f\u80fd\u5185\u5bb9\uff1aGmapping<\/h1>\n<p>\u542f\u52a8\u952e\u76d8\u8f93\u5165\uff1a<\/p>\n<p>\u9ed8\u8ba4\u542f\u52a8\u65b9\u5f0f:<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u542f\u52a8\u5185\u6838\uff0c\u53ef\u4ee5\u8df3\u8fc7\r\nroscore<\/code><\/pre>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u5b89\u88c5\u952e\u76d8\u751f\u6548\u6a21\u5757\r\nsudo apt-get apt-get install ros-kinetic-teleop-twist-keyboard\r\n#\u542f\u52a8\u952e\u76d8\u8f93\u5165\uff0c\u5426\u5219\u53ea\u80fd\u624b\u67c4\r\nrosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/code><\/pre>\n<p>\u5728\u5b9e\u4f53\u673a\u5668\u4e2d\uff0c\u9700\u8981\u8f93\u5165\u5982\u4e0b\u542f\u52a8\u547d\u4ee4\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u542f\u52a8\u624b\u67c4\u6a21\u5757\r\nroslaunch  bobac2_joy  bobac2_joy.launch<\/code><\/pre>\n<p>\u542f\u52a8\u5730\u56fe\u83b7\u53d6\u7684\u6a21\u62df\u5668 sim \u662f\u6a21\u62df\u5668\u7684\u7f29\u5199\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u542f\u52a8\u5730\u56fe\u7ed8\u5236\u6a21\u62df\u5668\uff0c\u4f1a\u6253\u5f00\u4e00\u4e2a\u5730\u56fe\u7f16\u8f91\u5668\u548c\u4e00\u4e2a\u5730\u56fe\u611f\u77e5\u5668\uff08\u4e24\u4e2a\u6587\u4ef6\uff09\r\n#\u5728\u611f\u77e5\u5668\u4e0a\u9762\u5229\u75282D Nav Coal\u8fdb\u884c\u5730\u56fe\u7ed8\u5236\r\nroslaunch bobac2_slam bobac2_slam_sim.launch\r\n#\u5b9e\u4f53\u673a\u5668\r\nroslaunch bobac2_slam bobac2_slam.launch<\/code><\/pre>\n<p>\u5728\u8fd0\u884c\u4e0a\u4e00\u4e2a\u5730\u56fe\u60c5\u51b5\u8fdb\u884c\u4fdd\u5b58<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u63d0\u524d\u6253\u5f00\u6587\u4ef6\u5939\r\nroscd bobac2_navigation\/maps\/\r\n#\u4fdd\u5b58\u5730\u56fe\u4fe1\u606f\r\nrosrun map_server map_saver -f \u6587\u4ef6\u540d\r\n# \u6ce8\u610f\uff1arosrun\u5c06\u4f1a\u5305\u4fdd\u5b58\u5728\u7ec8\u7aef\u6253\u5f00\u7684\u5f53\u524d\u76ee\u5f55<\/code><\/pre>\n<p>\u6ce8\u610f\u8bb0\u5f55\u8fd9\u4e2a\u6587\u4ef6\u540d\uff0c\u4ee5\u540e\u4f1a\u4f7f\u7528\u5230\uff0c\u4fdd\u5b58\u4f1a\u4ea7\u751f2\u4e2a\u6587\u4ef6<\/p>\n<h2>\u6ce8\u610f\uff01\uff01\uff01\uff01\u4fdd\u5b58\u540e\u8bb0\u5f97\u9000\u51fa\u6240\u6709\u5730\u56fe\u8f6f\u4ef6\u548c\u7ec8\u7aef\uff0c\u5426\u5219\u518d\u6253\u5f00\u4f1a\u51fa\u9519\uff01\uff01\uff01<\/h2>\n<p>\u4f7f\u7528\uff0c\u5e76\u4fee\u6539\u5730\u56fe\u4fe1\u606f<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u4f7f\u7528\u81ea\u5df1\u7ed8\u5236\u7684\u5730\u56fe\u4fe1\u606f\r\nroscd bobac2_navigation\/launch\/   #\u8fdb\u5165launch\u6587\u4ef6\u5939\r\nvim map_server.launch  #\u7f16\u8f91launch\u6587\u4ef6&lt;---\u91cd\u70b9\r\n#################################################################\r\n#\u5982\u679c\u4f60\u5bf9VIM\u4e0d\u719f\u6089\uff0c\u53ef\u4ee5\u7528\u4e0b\u9762\u8fd9\u4e2agedit\u7f16\u8f91\u5668\u3010\u4e0a\u4e0b\u4e8c\u9009\u4e00\u3011#\r\n#################################################################\r\ngedit map_server.launch <\/code><\/pre>\n<p>\u4fdd\u5b58\u6210\u529f\u540e\u6253\u5f00\u8fd0\u884c\u7a0b\u5e8f<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#\u8fd0\u884c\u5df2\u7ecf\u4fdd\u5b58\u597d\u7684\u5730\u56fe \u7a0b\u5e8f\r\n##################################################################\r\n#\u6ce8\u610f\uff1a\u5728\u6253\u5f00\u8fd9\u4e2a\u7a0b\u5e8f\u524d\u9700\u8981\u5173\u95ed\u524d\u9762\u7684\u7ed8\u5236\u7a0b\u5e8f\uff0c\u5426\u5219\u4f1a\u9020\u6210\u4e71\u4e03\u516b\u7cdf\u7684\u9519\u8bef#\r\n##################################################################\r\nroslaunch bobac2_navigation demo_nav_2d.launch<\/code><\/pre>\n<p>\u4fee\u6539\u7ec6\u8282\u5185\u5bb9<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">#rqt\u4fee\u6539\u5177\u4f53\u7684\u914d\u7f6e\u4fe1\u606f\uff0c\u8def\u5f84\u9009\u62e9\u60c5\u51b5\uff0c\u901f\u5ea6\uff0c\u89d2\u5ea6\uff0c\u6b32\u671b\uff0c\u7b49\r\nrqt \r\n-- plugging -- configure<\/code><\/pre>\n<h1>\u97f3\u9891\u5185\u5bb9\uff08\u672a\u8bb2\u5b8c\uff09<\/h1>\n<p>\u4f7f\u7528\u79d1\u5927\u8baf\u98de\u63d0\u4f9b\u7684API\uff0c\u53ef\u4ee5\u5728 <a href=\"https:\/\/www.xfyun.cn\/\">\u8baf\u98de\u5f00\u653e\u5e73\u53f0<\/a> \u8fdb\u884cAPI\u7684\u83b7\u53d6\uff0c\u6ce8\u518c\u8d26\u6237\u767b\u9646\u7ed1\u5b9a\u4fe1\u606f\u6253\u5f00\u63a7\u5236\u53f0\u4e00\u6c14\u5475\u6210\u3002<\/p>\n<blockquote><p>\u521b\u5efa\u9879\u76ee&#8211;&gt;\u8fdb\u884c\u57fa\u7840\u8bbe\u7f6e\uff0c\u91cd\u70b9\u5bf9\u5982\u4e0b\u51e0\u4e2a\u9009\u9879\u8fdb\u884c\u8bbe\u7f6e\uff1a<\/p>\n<p>\u8bed\u97f3\u8bc6\u522b\uff1a\u8bed\u97f3\u542c\u5199\uff08\u6d41\u5f0f\u7248\uff09\uff1b\u8bed\u97f3\u5524\u9192<\/p>\n<p>\u8bed\u97f3\u5408\u6210\uff1a\u5728\u7ebf\u8bed\u97f3\u5408\u6210\uff08\u6d41\u5f0f\u7248\u672c\uff09\uff1b<\/p>\n<p>&nbsp;<\/p>\n<p>\u83b7\u53d6LINUX\u7248\u672c<\/p><\/blockquote>\n<p>\u63d0\u4f9b\u7684\u6587\u4ef6\u5206\u5e03\u683c\u5f0f\u53ef\u4ee5\u5728README\u4e2d\u67e5\u770b\uff0c\u6837\u4f8b\u6587\u4ef6\u5728samples\uff0c\u6267\u884c\u6587\u4ef6\u5728bin\uff0c\u5e93\u6587\u4ef6\u5728libs\uff08\u51fa\u73b0\u7f3a\u5931\u53ef\u4ee5\u7528ln\u505a\u8f6f\u8fde\u63a5\uff09\uff0c\u8c03\u7528SDK\u6240\u9700\u5934\u6587\u4ef6\u5728include<\/p>\n<ol>\n<li>ttf_online_sample\uff0c\u8bed\u97f3\u5408\u6210\uff08\u5c06\u6587\u5b57\u8f6c\u5316\u6210\u8bed\u97f3\uff09\uff0c\u6838\u5fc3\u6539\u52a8 152\u884c<\/li>\n<li>iat_online_sample\u8bed\u97f3\u542c\u5199\uff08\u5c06\u8bed\u97f3\u6362\u6210\u6587\u5b57\uff09<\/li>\n<li>awaken_offline_sample\u8bed\u97f3\u5524\u9192<\/li>\n<\/ol>\n<p>\u6574\u4e2a\u8fc5\u98de\u7684\u6587\u4ef6\u7f16\u8bd1\u65b9\u6cd5\u4e3a\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">source 64bit_make.sh  #64\u4f4d\u7cfb\u7edf\r\nsource 32bit_make.sh  #32\u4f4d\u7cfb\u7edf<\/code><\/pre>\n<p>\u6ce8\u610f\uff0c\u4e00\u65e6\u5c06\u6587\u4ef6\u5bf9ROS\u9879\u76ee\u8fdb\u884c\u8986\u76d6\uff0c\u5c31\u9700\u8981\u91cd\u65b0\u7f16\u8f91\uff0c\u8f93\u5165\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\" null=\"\">catkin_make<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"<p>ROS\u5b98\u7f51\uff1ahttps:\/\/www.ros.org\/\uff0c\u5728\u4e0a\u9762\u4e0b\u8f7d\u57fa\u672c\u7684\u5b89\u88c5\u6587\u4ef6\uff0c\u8ddf\u7740\u6d41\u7a0b\u8d70\u5c31\u53ef\u4ee5\u4e86  [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[10,32,4],"tags":[12,33,7,56,57],"class_list":["post-347","post","type-post","status-publish","format-standard","hentry","category-ai","category-cpp","category-linux","tag-ai","tag-c","tag-linux","tag-robot","tag-ros"],"views":1422,"_links":{"self":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/347","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/comments?post=347"}],"version-history":[{"count":22,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/347\/revisions"}],"predecessor-version":[{"id":390,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/posts\/347\/revisions\/390"}],"wp:attachment":[{"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/media?parent=347"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/categories?post=347"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mustenaka.cn\/index.php\/wp-json\/wp\/v2\/tags?post=347"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}