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| Original file line number | Diff line number | Diff line change |
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| Robot: | ||
| sudo ntpdate -u time.windows.com | ||
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| source devel/setup.sh | ||
| export ROS_HOSTNAME=durant35.local | ||
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| roslaunch move_base_launch move_base.launch | ||
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| PC: | ||
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| source devel/setup.sh | ||
| export ROS_HOSTNAME=tarantula7-B480.local | ||
| export ROS_MASTER_URI=http://durant35.local:11311 | ||
| roslaunch navigation_launch navigation_networking.launch map:=lab510_0526.yaml | ||
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| //roslaunch navigation_launch navigation.launch map:=lab314_2.yaml | ||
| //roslaunch navigation_launch navigation.launch map:=lab510_0518.yaml | ||
| roslaunch navigation_launch navigation.launch map:=lab510_0531.yaml | ||
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| roslaunch navigation_launch navigation_trajectory.launch map:=lab510_0531.yaml | ||
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| roslaunch navigation_launch navigation_smoother.launch map:=lab510_0531.yaml | ||
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| 使用键盘操控 | ||
| roslaunch motor_driver_launch keyboard.launch | ||
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| 开启导航功能 | ||
| roslaunch navigation_launch navigation.launch map:=lab510_0518.yaml | ||
| roslaunch navigation_launch navigation.launch map:=lab510_0526.yaml | ||
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| 设置 initial pose 并初始化 amcl 定位 | ||
| ./CarControlServer | ||
| roslaunch motor_driver_launch keyboard.launch | ||
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| roslaunch motor_driver_launch motor_driver.launch | ||
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| Robot: | ||
| fuser 13000/tcp -v | ||
| kill PID | ||
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| 《Obtaining nav_msgs/Odometry from a laser_scan (eg. with laser_scan_matcher)》 | ||
| http://answers.ros.org/question/12489/obtaining-nav_msgsodometry-from-a-laser_scan-eg-with-laser_scan_matcher/#18434 | ||
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| It looks like the scan matcher isn't measuring velocity directly, but it is computing the delta in the laser position, which you could combine with the time between laser scans to produce a rough estimate of velocity, subject to jitter in your laser frequency and any errors in the scan matching. | ||
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| 《Does a static_map costmap continually update from map_server?》 | ||
| http://answers.ros.org/question/107281/does-a-static_map-costmap-continually-update-from-map_server/ | ||
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| does this only happen once, when initializing the costmap, or will the costmap be periodically updated when the map in map_server changes? | ||
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| Yes, it continually updates | ||
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| 《What's the difference between global and local costmap's static_map?》 | ||
| http://answers.ros.org/question/10620/whats-the-difference-between-global-and-local-costmaps-static_map/ | ||
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| The difference between the global and local costmap is that the global planner uses the global costmap to generate a long-term plan while the local planner uses the local costmap to generate a short-term plan. | ||
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| Setting the "static_map" parameter to true just means that you'll be taking an outside map source for navigation. That map could come from SLAM or it could come from a source like the map_server. | ||
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| gmapping can just replace the map_server with global static_map=true. An example of setting static_map=false, rolling_window=true would be a situation where you want to run navigation for the robot in the odometric frame without any map at all. | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,51 @@ | ||
| 1. install dependencies | ||
| sudo apt-get install libpcap* | ||
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| 2. create ros workspace | ||
| mkdir ROS_ws | ||
| cd ROS_ws | ||
| mkdir src & cd src | ||
| catkin_init_workspace | ||
| cd .. | ||
| catkin_make | ||
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| 3. git clone | ||
| cd src | ||
| git clone https://github.com/ros-drivers/velodyne.git | ||
| cd .. | ||
| catkin_make | ||
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| 4. configure your ethernet(here is enp3s0) | ||
| sudo ifconfig enp3s0 192.168.1.110 netmask 255.255.255.0 | ||
| ping 192.168.1.201 | ||
| it should be ping successfully!! | ||
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| 5. Getting Started with the Velodyne HDL-32E | ||
| http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20HDL-32E | ||
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| 4.1 rosrun velodyne_pointcloud gen_calibration.py 32db.xml | ||
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| 4.2 roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/durant35/Workspace/ROS_ws/32db.yaml | ||
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| 4.3 rosrun rviz rviz -f velodyne | ||
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| 6. velodyne_height_map --> Obtacles Detection | ||
| http://wiki.ros.org/velodyne_height_map | ||
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| 6.1 roslaunch velodyne_height_map heightmap_launch.launch | ||
| <launch> | ||
| <!-- start nodelet manager and driver nodelets --> | ||
| <!-- start transform nodelet using test calibration file --> | ||
| <include file="$(find velodyne_pointcloud)/launch/32e_points.launch"> | ||
| <arg name="calibration" | ||
| value="/home/durant35/Workspace/ROS_ws/32db.yaml"/> | ||
| </include> | ||
| <!-- start heightmap nodelet --> | ||
| <node pkg="velodyne_height_map" type="heightmap_node" name="heightmap_node"> | ||
| <param name="full_clouds" type="bool" value="true"/> | ||
| </node> | ||
| </launch> | ||
| 6.2 rosrun rviz rviz -f velodyne | ||
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