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第十四届全国大学生智能汽车竞赛室外光电竞速创意赛,ART-Racecar

Home Page: http://www.artrobot.com/h-col-114.html

Shell 1.17% CMake 11.13% C 1.72% C++ 54.66% Python 6.86% Makefile 24.42% HTML 0.04%

racecar's Introduction

art_racecar

art-racecar V1.0

ROS racecar 安装
cd ~/
git clone https://github.com/ART-Robot-Release/racecar
cd racecar
./install.sh
配置小车串口udev:
cd ~/racecar/src/art_racecar/udev
sudo bash art_init.sh
sudo reboot
建立地图
先安装电脑用户名和主机名配置主从机
a) 运行车
roslaunch art_racecar Run_car.launch
b) 3.3运行gmapping
roslaunch art_racecar Run_gmapping.launch
c) 3.4运行键盘控制
rosrun art_racecar racecar_teleop.py
d) 3.5.本地电脑打开rviz
本地电脑打开:
source 工作空间
source art_racecar/art_rviz.sh
roslaunch art_racecar rviz.launch
e) 3.6 建立地图
键盘控制建立地图,按键如下:
U I O
J K L
M , .
加减速为W,S.
f) 保存地图(地图直接保存在小车上)
在art_racecar文件夹下执行:bash save_map.sh
地图保存在art_racecar/map/mymap.pgm
检查无误后,修改mymap.pgm替换为test.pgm

导航
a) SSH连接小车(Ubuntu系统为例)sz为小车用户名
ssh [email protected]
b) 运行车
roslaunch art_racecar Run_car.launch
c) 运行AMCL
roslaunch art_racecar amcl_nav.launch
d) .本地电脑打开rviz
本地电脑打开:
source 工作空间
source art_racecar/art_rviz.sh
roslaunch art_racecar rviz.launch
e) 4.5 开始导航
在RVIZ中设定初始坐标,设定目标位置,开始导航
软件接口**
1.启动底盘
启动底盘需要启动rosserial_python节点。
设置参考art_racecar/launch/Run_car.launch
2.发布地盘控制指令:
通过发布Twist消息控制底盘。
线速度:twist.linear.x,这里的线速度范围为500~2500(对应PWM脉冲为0.5ms~2.5ms),1500为静止,1500-2500为正向速度,500-1500为反向速度。
角速度:twist.angular.x,这里角度范围为0~180度,90度为中间值,90-180度左转,0-90度右转。
3.里程计数据:
里程计采用激光雷达和IMU数据融合的里程计。
需要先启动IMU节点和雷达节点,参考art_racecar/launch/Run_car.launch
然后启动rf2o节点,用rf2o生成激光里程计,参考art_racecar/launch/includes/rf2o.launch.xml
再启动robot_localization用EKF融合里程计信息,参考art_racecar/launch/Run_gmapping.launch

										# Steven Zhang
										# 2019.01.30

racecar's People

Contributors

jn-yxy avatar znstj avatar

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