kobuki 学习笔记for ROS
2015-02-09 19:32
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kobuki 学习笔记
具体参考:http://wiki.ros.org/kobuki/Tutorials
1.安装
1.1.安装包:
sudo apt-get install ros-hydro-kobuki ros-hydro-kobuki-core
1.2.是能USB连接
rosrun kobuki_ftdi create_udev_rules
1.3.键盘控制
roslaunch kobuki_node minimal.launch 最小操作
roslaunch kobuki_keyop keyop.launch 键盘操作
2.基本软件,观测传感器数据,发送命令
2.1 登录 屏幕显示
roslaunch kobuki_node minimal.launch --screen
2.2列主题 rostopic list
注:输入输出数据结构
<node_name>/sensor/:
<node_name>/events/:
<node_name>/commands/:
<node_name>/debug/:
2.3 检查传感器
Check the bumpers: rostopic echo /mobile_base/events/bumper
Check the wheel drop sensors: rostopic echo /mobile_base/events/wheel_drop
Check the IMU: rostopic echo /mobile_base/sensors/imu_data
2.4触发
2.4.1 led操作 :0 - off 1 - green 2 - orange 3 - red
rostopic pub /mobile_base/commands/led1 kobuki_msgs/Led "value: 1"
2.4.2 声音:0 - turn on 1 - turn off 2 - recharge start 3 - press button,
4 - error sound 5 - start cleaning 6 - cleaning end
rostopic pub /mobile_base/commands/sound kobuki_msgs/Sound "value: 6"
2.4.3 速度发布
rostopic pub /mobile_base/commands/velocity geometry_msgs/Twist "
linear: angular:
x: 1.0 x: 0.0
y: 0.0 y: 0.0
z: 0.0 z: 0.0
3.移动
3.1 登录使用(键盘)
$ roslaunch kobuki_node minimal.launch --screen
$ roslaunch kobuki_keyop safe_keyop.launch (safe_keyop速度平滑 保险杠检测)
4。硬件测试
4.1 电池测试-安装qtestsuite ?
4.2 数字量输出口
rosrun kobuki_testsuite test_digital_output.py
4.3 硬件组建测试
rosrun kobuki_testsuite test_events.py
4.4 模拟输入
rosrun kobuki_testsuite test_analog_input.py
4.5 电池电压
rosrun kobuki_testsuite test_battery_voltage.py
4.6 陀螺
rosrun kobuki_testsuite test_gyro.py
4.7 LED
rosrun kobuki_testsuite test_led_array.py
4.8 简单运动
rosrun kobuki_testsuite test_rotation.py
rosrun kobuki_testsuite test_translation.py
4.9 声音
rosrun kobuki_testsuite test_sounds.py
5对话框 运动GUI
5.1 安装 sudo apt-get install ros-hydro-rqt-robot-monitor
5.2 运行 rosrun rqt_robot_monitor rqt_robot_monitor
6 测试自动对接(需红外对接站??)
**界面式查kobuki的电量(先运行节点):rosrun rqt_gui rqt_gui
具体参考:http://wiki.ros.org/kobuki/Tutorials
1.安装
1.1.安装包:
sudo apt-get install ros-hydro-kobuki ros-hydro-kobuki-core
1.2.是能USB连接
rosrun kobuki_ftdi create_udev_rules
1.3.键盘控制
roslaunch kobuki_node minimal.launch 最小操作
roslaunch kobuki_keyop keyop.launch 键盘操作
2.基本软件,观测传感器数据,发送命令
2.1 登录 屏幕显示
roslaunch kobuki_node minimal.launch --screen
2.2列主题 rostopic list
注:输入输出数据结构
<node_name>/sensor/:
<node_name>/events/:
<node_name>/commands/:
<node_name>/debug/:
2.3 检查传感器
Check the bumpers: rostopic echo /mobile_base/events/bumper
Check the wheel drop sensors: rostopic echo /mobile_base/events/wheel_drop
Check the IMU: rostopic echo /mobile_base/sensors/imu_data
2.4触发
2.4.1 led操作 :0 - off 1 - green 2 - orange 3 - red
rostopic pub /mobile_base/commands/led1 kobuki_msgs/Led "value: 1"
2.4.2 声音:0 - turn on 1 - turn off 2 - recharge start 3 - press button,
4 - error sound 5 - start cleaning 6 - cleaning end
rostopic pub /mobile_base/commands/sound kobuki_msgs/Sound "value: 6"
2.4.3 速度发布
rostopic pub /mobile_base/commands/velocity geometry_msgs/Twist "
linear: angular:
x: 1.0 x: 0.0
y: 0.0 y: 0.0
z: 0.0 z: 0.0
3.移动
3.1 登录使用(键盘)
$ roslaunch kobuki_node minimal.launch --screen
$ roslaunch kobuki_keyop safe_keyop.launch (safe_keyop速度平滑 保险杠检测)
4。硬件测试
4.1 电池测试-安装qtestsuite ?
4.2 数字量输出口
rosrun kobuki_testsuite test_digital_output.py
4.3 硬件组建测试
rosrun kobuki_testsuite test_events.py
4.4 模拟输入
rosrun kobuki_testsuite test_analog_input.py
4.5 电池电压
rosrun kobuki_testsuite test_battery_voltage.py
4.6 陀螺
rosrun kobuki_testsuite test_gyro.py
4.7 LED
rosrun kobuki_testsuite test_led_array.py
4.8 简单运动
rosrun kobuki_testsuite test_rotation.py
rosrun kobuki_testsuite test_translation.py
4.9 声音
rosrun kobuki_testsuite test_sounds.py
5对话框 运动GUI
5.1 安装 sudo apt-get install ros-hydro-rqt-robot-monitor
5.2 运行 rosrun rqt_robot_monitor rqt_robot_monitor
6 测试自动对接(需红外对接站??)
**界面式查kobuki的电量(先运行节点):rosrun rqt_gui rqt_gui
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