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https://github.com/6-robot/waterplus_map_tools.git
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78 lines
1.9 KiB
Markdown
78 lines
1.9 KiB
Markdown
# MapTools工具
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## 使用步骤
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1. 安装ROS(indigo/kinetic/melodic/noetic)
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2. 配置好开发环境. [配置方法](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
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3. 获取源码:
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```
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cd ~/catkin_ws/src/
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git clone https://github.com/6-robot/waterplus_map_tools.git
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```
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4. 安装依赖项(根据ROS版本选择其中一个):
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```
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~/catkin_ws/src/waterplus_map_tools/scripts/install_for_indigo.sh
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```
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```
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~/catkin_ws/src/waterplus_map_tools/scripts/install_for_kinetic.sh
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```
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```
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~/catkin_ws/src/waterplus_map_tools/scripts/install_for_melodic.sh
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```
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```
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~/catkin_ws/src/waterplus_map_tools/scripts/install_for_noetic.sh
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```
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5. 编译
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```
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cd ~/catkin_ws
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catkin_make
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```
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## 平台介绍
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MapTools工具是[北京六部工坊科技有限公司](http://www.6-robot.com)为旗下WP系列机器人快速设置地图航点所设计的辅助工具,具有操作简单,效果直观的优点。目前支持启智ROS,启智AI,启智MANI,启程3,启程4和启明1等型号的机器人.
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## 操作方法
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### 1. 打开地图
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启智ROS:
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```
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roslaunch waterplus_map_tools add_waypoint.launch
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```
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启智AI:
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```
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roslaunch waterplus_map_tools add_waypoint_ai.launch
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```
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启智MANI:
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```
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roslaunch waterplus_map_tools add_waypoint_mani.launch
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```
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启程3:
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```
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roslaunch waterplus_map_tools add_waypoint_wpv3.launch
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```
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启明1:
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```
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roslaunch waterplus_map_tools add_waypoint_wpr1.launch
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```
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### 2. 设置航点
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在Rviz工具栏点击"Add Waypoint"按钮可在地图上设置航点。
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### 3. 保存航点
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航点设置完毕后,使用如下指令保存航点:
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```
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rosrun waterplus_map_tools wp_saver
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```
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### 4. 航点遍历
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航点设置完毕后,可以使用如下指令让机器人将设置的航点逐个遍历:
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```
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rosrun waterplus_map_tools wp_nav_test
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```
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