/WildWolf_ICRA

for study

Primary LanguageC++

WildWolf_ICRA

一、安装 ROS

1.1 ROS 版本：

ROS version ubuntu version
Noetic ubuntu 20.04
Melodic ubuntu 18.04

1.2 安装方法：

官网下载： ROS Installation Guide 脚本安装：ROS Insatll script

二、安装依赖

运行以下命令安装一些 ROS 包 和 google-glog 库：

sudo apt-get update && sudo apt-get install -y --no-install-recommends \
   						  ros-${ROS_DISTRO}-tf 
   							ros-${ROS_DISTRO}-nav-msgs 
   							ros-${ROS_DISTRO}-geometry-msgs 
   																					 
sudo apt-get install -y ros-${ROS_DISTRO}-cv-bridge           \
                        ros-${ROS_DISTRO}-image-transport     \
                        ros-${ROS_DISTRO}-stage-ros           \
                        ros-${ROS_DISTRO}-map-server          \
                        ros-${ROS_DISTRO}-laser-geometry      \
                        ros-${ROS_DISTRO}-interactive-markers \
                        ros-${ROS_DISTRO}-tf                  \
                        ros-${ROS_DISTRO}-pcl-*               \
                        ros-${ROS_DISTRO}-libg2o              \
                        ros-${ROS_DISTRO}-rplidar-ros         \
                        ros-${ROS_DISTRO}-rviz                \
                        protobuf-compiler               \
                        libprotobuf-dev                 \
                        libsuitesparse-dev              \、
                        libgoogle-glog-dev

三、软件框架介绍

RoboRTS Tutorial

四、 Quick start

4.1 编译

cd catkin_ws/src
git clone git@github.com:zezeuser/WildWolf_ICRA.git
cd ..
catkin_make

4.2 运行仿真

4.2.1 修改参数

vim catkin_ws/src/roborts_costmap/config/costmap_parameter_config_for_local_plan.prototxt
# 第 7 行
robot_base_frame: "base_link"

vim /catkin_ws/src/roborts_planning/local_planner/timed_elastic_band/config/timed_elastic_band.prototxt
# 第 2 行
odom_frame: "odom"

4.2.2 运行仿真环境、导航、定位、rviz节点

roslaunch icra_robomaster_emulator decision_test.launch

4.2.3 运行决策节点

rosrun roborts_decision sel_behavior_node

4.2.4 仿真常见错误

若仿真不能正常显示，则运行以下命令将环境复制到本地 gazebo model 文件夹中

cd  ~/catkin_ws/src/icra_robomaster_emulator/wall-2020
cp -r icra_ground_plane/ ~/.gazebo/models/

4.3 运行 robomaster A 型机器人

4.3.1 修改参数

vim catkin_ws/src/roborts_costmap/config/costmap_parameter_config_for_local_plan.prototxt
# 第 7 行
robot_base_frame: "gimbal"

vim /catkin_ws/src/roborts_planning/local_planner/timed_elastic_band/config/timed_elastic_band.prototxt
# 第 2 行
odom_frame: "gimbal_odom"

4.3.2 运行雷达、雷达数据融合与屏蔽 、导航、定位、rviz 节点

注意：运行前请确保雷达与底盘接入

roslaunch roborts_bringup base.launch 
roslaunch roborts_bringup roborts.launch

4.3.3 运行自瞄

注意运行前请确保接入相机，否则初始化失败

rosrun armor_detection armor_detection_node

4.3.3 运行决策节点

注意运行前请确保导航定位正常，否则初始化失败

rosrun roborts_decision sel_behavior_node

更多决策参数修改细节请参考

cat /catkin_ws/src/roborts_decision/config/decision.prototxt

五、雷达驱动SDK问题

git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/build
cmake ..
make
sudo make install

ydlidar G4 使用说明 ydlidar X4 使用说明