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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+turtlebot3_simulation
2021-03-30 16:39:28turtlebot3功能包,下载编译即可用 -
turtlebot3:Turtlebot3的ROS软件包-源码
2021-02-04 02:46:01TurtleBot3 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-源码
2021-02-04 16:17:33turtlebot3_simulations:TurtleBot3的模拟 -
turtlebot3_applications:TurtleBot3的应用程序-源码
2021-02-03 04:16:08TurtleBot3 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_autorace:使用TurtleBot3进行自动驾驶-源码
2021-02-03 02:49:52TurtleBot3 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_deliver:TurtleBot3的ROS软件包交付-源码
2021-02-03 01:31:46TurtleBot3 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-源码
2021-02-04 12:44:30turtlebot3_msgs:TurtleBot3的ROS消息包 -
Problem with turtlebot3_example precisely with turtlebot3_client and turtlebot3_server
2020-12-30 09:05:17<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 turtlebot3和turtlebot3_msgs出错
2018-10-24 20:11:43TurtleBot3在PC端catkin_make turtlebot3和turtlebot3_msgs出错引言解决步骤一解决步骤二 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...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:
解决步骤一
升级gcc
查看升级之前的gcc版本gcc --version
升级gccsudo apt-get remove gcc sudo apt-get install gcc
升级后
但是gcc升级后依然编译出错:
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:
gcc版本问题,导致catkin_make失败。
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roslaunch turtlebot3_bringup turtlebot3_robot.launch ERROR
2020-12-26 01:59:51<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-源码
2021-02-13 12:50:03turtlebot3_stimulation 这显示了turtlebot3的安装以及运行刺激文件的过程。 -
TurtleBot3笔记
2018-10-25 15:17:30TurtleBot3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...TurtleBot3笔记
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
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。
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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/... -
ERROR: cannot launch node of type [turtlebot3_example/turtlebot3_marker_server]: can't locate node ...
2020-12-27 08:59:48<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-源码
2021-02-04 13:43:52turtlebot3_from_scratch:具有EKF SLAM的Turtlebot3和Scratch的逆运动学 -
TURTLEBOT3_ROS2/turtlebot3_waffle doesn't connect with SBC
2020-12-08 19:50:45/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
2020-12-11 09:23:47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
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。
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:
启用Image左栏的图像选项,左栏其他选项也可以尝试。
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:kqn2cd ~/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
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)
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
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2021-02-15 23:33:17Turtlebot3_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... -
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2020-12-27 23:44:48I 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 09:33:27roslaunch 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 -
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2018-01-17 12:28:16ROS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 want to know how Turtlebot3(turtlebot3_teleop_key) & Cartographer ROS
2020-12-28 13:41:10I 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... -
AMR-TurtleBot3的差分控制:TurtleBot3的差分控制的实现-源码
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