WPR系列机器人仿真工具
系统版本
- ROS Kinetic (Ubuntu 16.04)
- ROS Melodic (Ubuntu 18.04)
使用说明
一、 启智ROS机器人
- 获取源码:
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpb_home.git
- 安装依赖项:
ROS Kinetic (Ubuntu 16.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_kinetic.sh
ROS Melodic (Ubuntu 18.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_melodic.sh
- 编译
cd ~/catkin_ws
catkin_make
简单场景:
roslaunch wpr_simulation wpb_simple.launch
SLAM环境地图创建:
roslaunch wpr_simulation wpb_gmapping.launch
Navigation导航:
roslaunch wpr_simulation wpb_navigation.launch
物品抓取:
roslaunch wpr_simulation wpb_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client
二、 启明1服务机器人
- 获取源码:
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpr1.git
git clone https://github.com/6-robot/waterplus_map_tools.git
git clone https://github.com/6-robot/xfyun_kinetic.git
- 安装依赖项:
ROS Kinetic (Ubuntu 16.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_kinetic.sh
ROS Melodic (Ubuntu 18.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_melodic.sh
- 编译
cd ~/catkin_ws
catkin_make
简单场景:
roslaunch wpr_simulation wpr1_simple.launch
SLAM环境地图创建:
roslaunch wpr_simulation wpr1_gmapping.launch
Navigation导航:
roslaunch wpr_simulation wpr1_navigation.launch
