环境：Ubuntu14.04（64位）+KinectV1+四轮差速驱动小车 注:以下步骤在小车上位机上进行、不适用于KinectV2
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall
参考:http://wiki.ros.org/indigo/Installation/Ubuntu
sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*
测试:
roslaunch freenect_launch freenect.launch depth_registration:=true
参考:http://www.ncnynl.com/archives/201609/794.html
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd .. && catkin_make
echo "source ~/catkin_ws/src/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
参考:http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
cd ~/catkin_ws/src
git clone https://github.com/ros-perception/depthimage_to_laserscan
cd .. && catkin_make
参考:http://wiki.ros.org/depthimage_to_laserscan
sudo apt-get install nano
mkdir ~/launch && cd ~/launch
nano scan.launch
<launch>
<!-- Kinect cloud to laser scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/camera/depth_registered/image_raw"/>
<remap from="camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="scan" to="/scan"/>
<param name="range_max" type="double" value="4"/>
</node>
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="true"/>
</include>
</launch>
测试:
roslaunch ~/launch/scan.launch
sudo apt-get install ros-indigo-rtabmap-*
roscd rtabmap_ros/launch
sudo nano rgbd_mapping.launch
32 <arg name="subscribe_scan" default="false"/>
改为
32 <arg name="subscribe_scan" default="true"/>
测试:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false
注:需要在启动kinect的前提下才能使用
注：假设下位机已经烧录好程序
cd ~/catkin_ws/src
git clone https://github.com/grassjelly/linorobot_4wd.git
git clone https://github.com/grassjelly/lino_pid.git
git clone https://github.com/grassjelly/lino_msgs.git
git clone https://github.com/hbrobotics/ros_arduino_bridge
cd .. && catkin_make
cd ~/launch
nano arduino.launch
<node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
<rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
</node>
roscd ros_arduino_python/config
sudo cp arduino_params.yaml my_arduino_params.yaml
sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch
用键盘测试:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
调参:
arduino_params.yaml是基础的参数配置文件，如轮胎直径、轮胎间距等
参考:https://linorobot.org
roslaunch linorobot_4wd navigate.launch
调参:
cd ~/catkin_ws/src/linorobot_4wd/param && ls
里面的五个文件都是导航相关的配置文件，参数说明可参考:
http://www.cnblogs.com/zjiaxing/p/5559382.html
http://wiki.ros.org/navigation/Tutorials/RobotSetup
ifconfig查看小车上位机(NUCi7)ip地址，假设为10.18.241.138
在每个终端需要
export ROS_IP=10.18.241.138&&export ROS_MASTER_URI=http://10.18.241.138:11311/
终端1:roslaunch ~/launch/scan.launch
终端2:sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch
终端3:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false
终端4:roslaunch linorobot_4wd navigate.launch
先进行第一步安装ROS，然后安装rviz
sudo apt-get install ros-indigo-rviz-*
ifconfig查看本机ip地址，假设为10.18.228.187
在每个终端需要
export ROS_IP=10.18.228.187 && export ROS_MASTER_URI=http://10.18.241.138:11311/
终端1:rosrun rviz rviz
接下来在rviz订阅相关话题就可以了
- ROS入门正确姿势
- ROS官网rviz介绍
- ROS官网rtabmap_ros介绍
- RTAB-Map官网介绍
- RTAB-Map原理中文解析
- rtabmap_ros+KinectV1使用
- ROS官网Navigation介绍
- Navigation解析
- linorobot介绍
- 搭建ROS小车底盘A
- 搭建ROS小车底盘B
- 小车校准
- ROS与SLAM教程
- ROS与深度摄像头教程
- Turtlebot入门教程
- SLAM相关汇总
- OpenSLAM
- 初步构建文档
- 设定TF转换关系
- KinectV1->KinectV2
- NUCi7
- 4WD->Mecanum
- 二维+三维显示
- 里程计融合
- 看各文件源码
PS:由于我只是单凭回忆记录的，并不是边实验边记录，所以可能有所纰漏。