Turtlebot和OpenManipulator使用入门
1. SLAM 地图构建部分
激光雷达数据的读取
SLAM堆栈和节点图
movebase 堆栈和节点图。
2. 机械臂演示流程
#TB3
ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=om_with_tb3 set_lidar_frame_id:=om_with_tb3/base_scan
#如果出现错误
# [WARN] [1551919466.457646]: Failed to get param: timeout expired
# 使用同步器对时间进行同步。
# sudo ntpdate -b IP_OF_RASPBERRY
# sudo ntpdate ntp.ubuntu.com
# 如果还出现这种错误,就 先上电后Reset再同步时钟
#TB3 开相机
ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
#remote PC 状态发布器。
ROS_NAMESPACE=om_with_tb3 roslaunch open_manipulator_with_tb3_tools om_with_tb3_robot.launch
#SLAM
roslaunch open_manipulator_with_tb3_tools slam.launch use_platform:=true
ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
ROS_NAMESPACE=om_with_tb3 rosrun map_server map_saver -f ~/map
#navigation
roslaunch open_manipulator_with_tb3_tools navigation.launch use_platform:=true
#moveit
roslaunch open_manipulator_with_tb3_tools manipulation.launch use_platform:=true
#rqt 发布机器人状态。
3. 移动抓取演示
roslaunch open_manipulator_with_tb3_gazebo rooms.launch use_platform:=false
roslaunch open_manipulator_with_tb3_tools rooms.launch use_platform:=false
roslaunch open_manipulator_with_tb3_tools task_controller.launch
4. rqt发送指令控制,程序控制
充电器转接盒,插电双灯亮后灭。
连电池红灯亮,充满电后红变绿。