# art_racecar
# art-racecar V1.0 2019.01.30
# art-racecar V1.1 2019.07.17 完善手柄遥控功能
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
或者手柄遥控
roslaunch art_racecar teleop_joy.launch
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.
手柄控制:
L侧方向键:上下为加速减速,左右为转向幅度大小调节
R侧摇杆:控制小车运动
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
没有合适的资源?快使用搜索试试~ 我知道了~
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
共538个文件
cmake:126个
make:114个
cpp:35个
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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 部署: 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 或者手柄遥控 roslaunch art_racecar teleop_joy.launch d) 3.5.本地电脑打开rviz 本地电脑打开: source 工作空间
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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 (538个子文件)
2 5B
libart_controller.a 789KB
libart_driver.a 8KB
test3.bag 24.48MB
test1.bag 1.4MB
test2.bag 521KB
setup.bash 260B
setup.bash 260B
feature_tests.bin 12KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeCCompilerId.c 17KB
feature_tests.c 688B
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CATKIN_IGNORE 0B
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rf2o_laser_odometry.cbp 99KB
art_imu.cc 10KB
imu.cfg 258B
cmake.check_cache 85B
Makefile.cmake 24KB
rf2o_laser_odometryConfig.cmake 8KB
rf2o_laser_odometryConfig.cmake 8KB
cmake_install.cmake 7KB
CMakeCXXCompiler.cmake 5KB
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package.cmake 1KB
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rf2o_laser_odometryConfig-version.cmake 426B
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