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  • Turtlebot3

    2021-04-15 17:09:12
    第一次在电脑上运行turtlebot3报错: <p>RLException: Invalid <arg> tag: 'ascii' codec can't decode byte 0xe6 in position 33: ordinal not in range(128). <p>Arg xml is <arg ...
  • turtlebot3功能包,下载编译即可用
  • TurtleBot3 TurtleBot3的ROS 1软件包 开发 主 Kinetic + Ubuntu Xenial Melodic + Ubuntu仿生 Noetic + Ubuntu焦点 TurtleBot3的ROS 2软件包 ros2-devel ros2 短跑+ Ubuntu Bionic Foxy + Ubuntu焦点 适用于...
  • turtlebot3_simulations:TurtleBot3的模拟
  • TurtleBot3 TurtleBot3应用程序的ROS软件包 版 Kinetic + Ubuntu Xenial Melodic + Ubuntu仿生 适用于TurtleBot3的ROBOTIS电子手册 Wiki的turtlebot3_applications软件包 (元包) 与TurtleBot3相关的开源 与...
  • TurtleBot3 TurtleBot3 AutoRace的ROS软件包 版 Kinetic + Ubuntu Xenial Melodic + Ubuntu仿生 适用于TurtleBot3的ROBOTIS电子手册 Wiki的turtlebot3_autorace软件包 (元包) 与TurtleBot3相关的开源 与...
  • TurtleBot3 TurtleBot3交付的ROS软件包 版 Kinetic + Ubuntu Xenial Melodic + Ubuntu仿生 -- 适用于TurtleBot3的ROBOTIS电子手册 Wiki的turtlebot3_deliver软件包 (元包) 与TurtleBot3相关的开源 与TurtleBot3...
  • turtlebot3_msgs:TurtleBot3的ROS消息包
  • <ul><li>Bringup</li><li>rosrun turtlebot3_example turtlebot3_server</li><li>roslaunch turtlebot3_example turtlebot3_client.launch</li></ul> </li><li> <p>Copy and Paste your error message on terminal ...
  • TurtleBot3在PC端catkin_make turtlebot3turtlebot3_msgs出错引言解决步骤一解决步骤二 引言 TurtleBot3在PC端catkin_make turtlebot3turtlebot3_msgs出错,之前在笔记本上是编译成功的,可能由于前几天在编译...

    TurtleBot3在PC端catkin_make turtlebot3和turtlebot3_msgs出错

    引言

    TurtleBot3在PC端catkin_make turtlebot3和turtlebot3_msgs出错,之前在笔记本上是编译成功的,可能由于前几天在编译安装Tensorflow时降低了gcc版本导致catkin_make时出现错误如图,于是根据猜想展开搜索升级gcc解决:
    turtlebot3

    解决步骤一

    升级gcc
    查看升级之前的gcc版本

    gcc --version
    

    gcc
    升级gcc

    sudo apt-get remove gcc
    sudo apt-get install gcc
    

    升级后
    gcc
    但是gcc升级后依然编译出错:
    出错

    解决步骤二

    解决No CMAKE_CXX_COMPILER could be found.问题

    sudo apt-get update
    sudo apt-get install -y build-essential
    

    重新catkin_make.成功:
    catkin_make编译成功

    gcc版本问题,导致catkin_make失败。

    展开全文
  • <div><p>turtlebot3burger-desktop:~$ roslaunch turtlebot3_bringup turtlebot3_lidar.launch ... logging to /home/turtlebot3burger/.ros/log/585c8fba-714b-11e8-ba6a-3010b3156803/roslaunch-turtlebot3burger-...
  • turtlebot3_stimulation 这显示了turtlebot3的安装以及运行刺激文件的过程。
  • TurtleBot3笔记

    千次阅读 2018-10-25 15:17:30
    TurtleBot3例程小总结远程终端PC 端安装TurtleBot3Turtlebot3-waffle_pi网络设置Turtlebot3-waffle_pi-雷达安装Turtlebot3-waffle_pi安装树莓派v2摄像头Turtlebot3-Cartographer-turtlebot 安装Turtlebot3-waffle_pi...

    引言

    不是按照学习的时间顺序总结。

    0、初始化TurtleBot3

    [pc]

    roscore
    

    [turtlebot]

    roslaunch turtlebot3_bringup turtlebot3_robot.launch
    

    初始化TurtleBot3
    工作空间里,source一下环境变量。

    source devel/setup.bash 
    

    1、远程终端

    [turtleBot3]

    sudo apt-get install ssh
    sudo raspi-config
    #选择 Interfacing Options
    #导航并选择SSH
    #选择Yes
    #选择OK
    #选择Finish
    

    [PC]

    ssh couny(usrName)@IP_OF_TurtleBot3
    

    输入密码就OK.

    2、PC 端安装TurtleBot3

    安装turtlebot3依赖包:
    sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
    

    安装turtlebot3源码:

    cd ~/catkin_ws/src/
    git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
    git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
    cd ~/catkin_ws && catkin_make
    

    环境设置:

    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
    

    3、Turtlebot3-waffle_pi网络设置

    时间同步:

    #主从分别安装chrony
    sudo apt-get install chrony
    #主从分别安装ntpdate 
    sudo apt-get install ntpdate
    #主从分别同步时间
    sudo ntpdate ntp.ubuntu.com
    # 检测时间是否同步
    date
    

    ROS需要IP地址在turtlebot和远程PC之间进行通信,要求在同一个wifi局域网下。分别在turtlebot和PC,执行如下命令获得对应的IP地址:

    ifconfig
    #修改.bashrc
    gedit ~/.bashrc
    

    TURTLEBOT配置如下

    export ROS_MASTER_URI=http://IP_OF_PC:11311
    export ROS_HOSTNAME=IP_OF_TURTLEBOT
    

    PC配置如下:

    export ROS_MASTER_URI=http://IP_OF_PC:11311
    export ROS_HOSTNAME=IP_OF_PC
    

    ROS_MASTER <roscore请大师!> PC端。
    让环境生效:

    source ~/.bashrc
    

    4、Turtlebot3-waffle_pi-雷达安装

    [Remote PC]安装驱动

    sudo apt-get install ros-kinetic-hls-lfcd-lds-driver
    

    [TurtelBot]设置权限

    sudo chmod a+rw /dev/ttyUSB0
    

    [Remote PC]增加view_laser.launch,用于显示激光雷达

    roscd hls_lfcd_lds_driver
    cd launch
    sudo vim view_laser.launch
    

    内容如下:

    <launch>
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find hls_lfcd_lds_driver)/rviz/hlds_laser.rviz" />
    </launch>
    

    测试:
    [TurtelBot] 启动雷达

    roslaunch hls_lfcd_lds_driver hlds_laser.launch
    

    [Remote PC] 启动rviz

    roslaunch hls_lfcd_lds_driver view_laser.launch
    

    串口权限问题
    1、检测串口

      ls -l /dev |grep ttyUSB
    

    2、赋予权限

    sudo chmod 666 /dev/ttyUSB0
    

    3、在编译的ROS包中运行launch文件

    roslaunch rplidar_ros view_rplidar.launch
    

    5、Turtlebot3-waffle_pi安装树莓派v2摄像头

    [TurtleBot] 在树莓派上进行摄像头设置:

    sudo raspi-config  
    

    进入图形界面Tab、空格、enter键选择。

    • 选择 3 Interfacing Options
    • 选择 P1 Camera
    • Enable camera interface

    [TurtleBot] 设置完之后测试以下是否能正常使用,输入以下以下命令,正常情况下树莓派系统的桌面上会生成一张摄像头捕捉到的图像。

    raspistill -v -o test.jpg
    

    [TurtleBot] 安装ros驱动包

    cd ~/catkin_ws/src
    git clone https://github.com/UbiquityRobotics/raspicam_node.git
    sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager
    gedit /etc/ros/rosdep/sources.list.d/30-ubiquity.list
    

    添加下面这段话到 30-ubiquity.list 后保存:

    yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml
    

    继续

    rosdep update
    cd ~/catkin_ws
    rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
    cd ~/catkin_ws && catkin_make
    

    [TurtleBot] 运行raspicam节点

    roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
    

    或者执行下面这条命令进行测试

    roslaunch raspicam_node camerav2_1280x960.launch
    

    [Remote PC] 执行以下命令

    rqt_image_view
    

    桌面出现显示摄像头即时内容的gui界面时,说明已成功安装.

    6、Turtlebot3-Cartographer-turtlebot 安装

    (每次安装都得重来,按照步骤来就是了。网速没问题就没问题。)
    修改ceres-solver地址:
    github地址:https://github.com/ceres-solver/ceres-solver.git 注意:如果在树莓派下安装需要使用至少16G卡,并扩展2G的swap空间.

    库安装
    推荐使用rosdep.但更快安装推荐使用Ninja.
    安装依赖:

    sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
    

    安装步骤:

    #Install wstool and rosdep.
    sudo apt-get update
    sudo apt-get install -y python-wstool python-rosdep ninja-build
    
    #Create a new workspace in 'cartographer_ws'.
    mkdir cartographer_ws
    cd cartographer_ws
    wstool init src
    
    Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
    wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
    
    gedit src/.rosinstall
    #更改ceres-solver中地址改为下面的地址:
    #>>uri: https://github.com/ceres-solver/ceres-solver.git
    wstool update -t src
    
    #Install deb dependencies.
    rosdep update
    
    #install proto3
    src/cartographer/scripts/install_proto3.sh
    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
    
    #Build and install.
    catkin_make_isolated --install --use-ninja -j1
    source install_isolated/setup.bash
    
    #添加到.bashrc
    echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc
    

    7、Turtlebot3-waffle_pi建图

    [Remote PC] 打开终端,然后运行SLAM启动文件和rviz

        #[1]在turtlebot_ws/下进行source工作空间
        source devel/setup.bash    
        
        #[2]在cartographer_ws/下进行source工作空间然后运行。
        #<cartographer建图>
        echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc 
            # <cartographer建图>
        source install_isolated/setup.bash  
        export TURTLEBOT3_MODEL=waffle_pi
        
        #最终的roslaunch是在cartographer_ws/下进行的。
        roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
        #SLAM: gmapping, cartographer, hector, karto, frontier_exploration, RTAB-Map 
    

    [Remote PC] 启动键盘操作

    source devel/setup.bash
    export TURTLEBOT3_MODEL=waffle_pi
    roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
    

    [Remote PC] 打开终端,然后运行地图保存节点

    rosrun map_server map_saver -f ~/map
    #map.pgm和map.yaml 在 ~/ 目录里创建
    

    总结

    持续更新。

    展开全文
  • Cannot bringup Turtlebot3

    2020-12-26 01:49:12
    <p>No such file or directory: /home/gary/catkin_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_.urdf.xacro None None while processing /home/gary/catkin_ws/src/turtlebot3/turtlebot3_bringup/...
  • <p>-ERROR: cannot launch node of type [turtlebot3_example/turtlebot3_marker_server]: can't locate node [turtlebot3_marker_server] in package [turtlebot3_example] </li><li> <p>Please, describe ...
  • turtlebot3_from_scratch:具有EKF SLAM的Turtlebot3和Scratch的逆运动学
  • /home/ubuntu/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/ubuntu/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param...
  • 使用turtlebot及turtlebot3仿真 安装相关软件包 在kinetic下安装 sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ...

    使用turtlebot及turtlebot3仿真

    安装相关软件包

    在kinetic下安装
    sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi
    另外建议把下面的软件也安装
    ros-kinetic-ar-track-alvar-msgs ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library
    后两个软件可能安装有问题,可以这样解决
    ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library无法定位软件源,手动安装,使用git下载软件源码到ros工作目录catkin_ws/src/下,等待编译。
    git clone https://github.com/robotics-in-concert/rocon_qt_gui.git
    编译之前,确保安装了编译依赖资源pycc5,pyrcc4,若没有,手动安装
    apt-get install pyqt4-dev-tools
    apt-get install pyqt5-dev-tools

    安装rbx1:
    建议安装前把以下软件也安装,方便今后学习中用到
    sudo apt-get install ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-create ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-* ros-kinetic-usb-cam ros-kinetic-laser-* ros-kinetic-hokuyo-node ros-kinetic-audio-common gstreamer0.10-pocketsphinx ros-kinetic-pocketsphinx ros-kinetic-slam-gmapping ros-kinetic-joystick-drivers python-rosinstall ros-kinetic-orocos-kdl ros-kinetic-python-orocos-kdl python-setuptools ros-kinetic-dynamixel-motor libopencv-dev python-opencv ros-kinetic-vision-opencv ros-kinetic-depthimage-to-laserscan ros-kinetic-arbotix-* ros-kinetic-turtlebot-teleop ros-kinetic-move-base ros-kinetic-map-server ros-kinetic-fake-localization ros-kinetic-amcl git subversion mercurial
    sudo apt-get install ros-kinetic-geographic-msgs

    如果想要查看kinetic版本下rbx1的结构,可以访问如下
    https://github.com/pirobot/rbx1/tree/kinetic-devel-beta
    在这里插入图片描述
    需要下载可以访问网盘
    链接:https://pan.baidu.com/s/18xVfHNdo981XIN8FEIz2cg
    提取码:iu0w
    到工作空间下
    catkin_make
    设置当前工作空间
    source devel/setup.bash

    测试Turtlebot仿真

    • 打开一个终端,输入以下命令:
    roslaunch turtlebot_gazebo turtlebot_world.launch
    • 当您第一次启动Gazebo 首次可能需要几分钟来更新模型数据库。
    • 你会看到一个环境,称为Gazebo的世界,与turtlebot和其他一些对象。
    • 场景是模拟器的主要部分,对象是动态的,你可以与环境进行交互。
    在这里插入图片描述
    运行rviz
    • rviz是ROS的三维可视化环境。
    • 可视化和测试传感器信息是开发和调试的一个重要组成部分。
    • 运行一个新的终端,启动Rviz:
    roslaunch turtlebot_rviz_launchers view_robot.launch
    • 你会看到一个turtlebot:
    在这里插入图片描述
    启用Image左栏的图像选项,左栏其他选项也可以尝试。
    在这里插入图片描述

    使用turtlebot3仿真

    在kinetic下安装,首先安装依赖项
    apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
    apt-get install ros-kinetic-image-transport ros-kinetic-cv-bridge ros-kinetic-vision-opencv python-opencv libopencv-dev ros-kinetic-image-proc

    然后安装turtlebot3,若下载缓慢,可以通过以下网盘下载再拷贝到指定位置
    链接:https://pan.baidu.com/s/1qonJL4ifbJ3rTws8PqGASA
    提取码:kqn2

    cd ~/catkin_ws/src/
    git clone https://github.com/ROBOTIS-GIT/turtlebot3
    git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
    git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
    git clone https://github.com/ROBOTIS-GIT/turtlebot3_autorace
    cd ~/catkin_ws && catkin_make

    测试turtlebot3自动驾驶

    1,首先启动Gazebo仿真,启动自动驾驶地图环境。
    roslaunch turtlebot3_gazebo turtlebot3_autorace.launch
    在这里插入图片描述
    2,启动信号灯,停车模块(当turtleBot3到达这个区域,会自动运行停车程序)
    在这里插入图片描述
    3,启动相机
    export GAZEBO_MODE=true
    export AUTO_IN_CALIB=action
    roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch
    4,启动自动驾驶
    export AUTO_EX_CALIB=action
    export AUTO_DT_CALIB=action
    export TURTLEBOT3_MODEL=burger
    roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch
    5,选择模式
    rostopic pub -1 /core/decided_mode std_msgs/UInt8 “data: 2”
    通过以上步骤,可以看到机器人在跑道上自动驾驶,视频可通过网盘下载:
    链接:https://pan.baidu.com/s/1MZFeC_4aOby-9UCy0PFDuw
    提取码:rfbs
    在这里插入图片描述

    展开全文
  • Turtlebot3_shm 对于多个Turtlebot3 Navigation + ORCA算法进行本地路径 要求 Ubuntu 16.04 ROS Kinetic Kame 预先安装的catkin_Ws note: please install the following item before proceding 关于这个项目 该...
  • When I use command roslaunch turtlebot3_bringup turtlebot3_remote.launch It not work as you can see at picture. I use turtlebot3 burger Ubuntu Mate 16.04.2(xenial) ROS kinetic on my pc I use ROS ...
  • I carefully searched for this topic, but the only one I found that <a href="https://github.com/ROBOTIS-GIT/turtlebot3/issues/90">wrote about it </a> never answered back. If I am right, the examples ...
  • Turtlebot 3 Slam

    2020-12-27 09:33:27
    roslaunch turtlebot3 navigation turtlebot3_navigation.launch map file:=... I got: <pre><code> -- 4172.2622, global_pose stamp: 1532714171.7426, tolerance: 0.5000 [ WARN] [1532714172.262382062]: ...
  • Turtlebot3 仿真

    2018-11-07 17:31:11
    Turtlebot3 仿真 文献:Turtlebot3与仿真-仿真环境搭建(kinetic版)
    展开全文
  • ROS开源项目turtlebot3

    2018-01-17 12:28:16
    ROS开源项目turtlebot3完整代码 TurtleBot3是一个小型,低成本,完全可编程,基于ROS的移动机器人。 它旨在用于教育,研究,产品原型和爱好应用的目的。 TurtleBot3的目标是大幅降低平台的尺寸和价格,而不会牺牲...
  • Fix turtlebot3 dependencies

    2020-12-26 16:22:44
    <div><p>Trying to <code>catkin build turtlebot3</code> gives the following error <pre><code> error: ‘const struct turtlebot3_msgs::SensorState_<:allocator>’ has no member named ‘torque’ if ...
  • I saw turtlebot3 & Google Cartographer ROS on the site( http://turtlebot3.robotis.com/en/latest/slam.html) I want to manipulate directly to make a SLAM map. For example, I want to link ...
  • TurtleBot3 Burger Robot

    2020-11-27 11:14:00
    <div><p>Addition of the TurtleBot3 Burger robot. <p>https://www.cyberbotics.com/doc/guide/turtlebot3-burger?version=feature-turtelbot3 https://www.cyberbotics.com/doc/guide/robots?version=...
  • turtlebot3启动指令

    2019-10-08 18:53:46
    一、slam指令 ...nuc运行 roslaunch turtlebot3_bringup turtlebot3_robot.launch 以下均为主机运行 2.export TURTLEBOT3_MODEL=waffle 3.roslaunch turtlebot3_slam turtlebot3_slam.launch 4.rosrun...
  • TURTLEBOT3的差异控制 (自动移动机器人) 对具有差动驱动的机器人进行运动学控制。 运行脚本时,可以在手动和自动模式之间切换。 在手动模式下,您可以设置机器人的线速度和角速度。 在自动模式下,您可以设置...

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