sychaichangkun / Ros Academy For Beginners
中国大学MOOC《机器人操作系统入门》代码示例 ROS tutorial
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《机器人操作系统入门》课程代码示例
前言
欢迎来到中国大学MOOC---《机器人操作系统入门》课程,本ROS软件包是课程的代码示例,课程中使用的例子均出自本代码包。除了代码包,课程还提供讲义,欢迎各位朋友下载、学习和分享。
本示例包含了XBot机器人和中科院软件博物馆仿真、ROS通信示例程序、导航与SLAM功能演示,在每个软件包下都有相应的功能介绍。
如果你遇到任何问题,可以在Github上方的issues栏目中提问,我们课程团队会耐心回答。本示例将长期维护,不断更新,如果你认可我们的工作,请点击右上角的star按钮,您的鼓励是我们的动力。
示例介绍
本仓库为ROS入门教程的代码示例,包括以下ROS软件包:
软件包 | 内容 |
---|---|
robot_sim_demo | 机器人仿真程序,大部分示例会用到这个软件包 |
topic_demo | topic通信,自定义msg,包括C++和python两个版本实现 |
service_demo | service通信,自定义srv,分别以C++和python两种语言实现 |
action_demo | action通信,自定义action,C++和python两种语言实现 |
param_demo | param操作,分别以C++和python两种语言实现 |
msgs_demo | 演示msg、srv、action文件的格式规范 |
tf_demo | tf相关API操作演示,tf示例包括C++和python两个版本 |
name_demo | 演示全局命名空间和局部命名空间下参数的提取 |
tf_follower | 制作mybot机器人 实现mybot跟随xbot的功能 |
urdf_demo | 创建机器人urdf模型,在RViz中显示 |
navigation_sim_demo | 导航演示工具包,包括AMCL, Odometry Navigation等演示 |
slam_sim_demo | 同步定位与建图演示,包括Gmapping, Karto, Hector等SLAM演示 |
robot_orbslam2_demo | ORB_SLAM2的演示 |
ros_academy_for_beginners | Metapacakge示例,依赖了本仓库所有的pacakge |
下载和编译
- 克隆或下载ROS-Academy-for-Beginners教学包到工作空间的
/src
目录下,例如~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
- 安装教学包所需的依赖
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
- 编译并刷新环境
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
- 运行示例
运行须知
-
建议在本地Ubuntu 16.04下运行仿真程序。目前Gazebo模拟器的兼容性是一大问题,在虚拟机或配置较低的电脑上可能无法运行。如果你的显卡是N卡,建议安装Ubuntu下的显卡驱动。
-
运行Gazebo仿真程序
robot_sim_demo
前,请将Gazebo升级到7.x版本以上(推荐7.9版本)。
查看Gazebo版本方法
$ gazebo -v #确认7.0以上,推荐7.9
升级方法
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7
- 确保所有依赖都已安装,如
gazebo_ros
,gmapping
,slam_karto
,amcl
。
Copyright
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