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MapTools工具

使用步骤

cd ~/catkin_ws/src/
git clone https://github.com/6-robot/waterplus_map_tools.git

~/catkin_ws/src/waterplus_map_tools/scripts/install_for_indigo.sh

~/catkin_ws/src/waterplus_map_tools/scripts/install_for_kinetic.sh

~/catkin_ws/src/waterplus_map_tools/scripts/install_for_melodic.sh

~/catkin_ws/src/waterplus_map_tools/scripts/install_for_noetic.sh

cd ~/catkin_ws
catkin_make

MapTools工具是北京六部工坊科技有限公司为旗下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,启程3,启程4和启明1等型号的机器人.

对于启智ROS这类使用本地开发模式的机器人,使用如下指令打开地图:

roslaunch waterplus_map_tools wpb_home_nav_test.launch

对于启明1这类使用远程开发模式的机器人,在机载电脑端运行如下指令:

roslaunch waterplus_map_tools add_waypoint_app.launch

然后在开发机端运行如下指令打开地图(记得先将ROS_MASTER_URI指向机器人):

roslaunch waterplus_map_tools add_waypoint_monitor.launch

在Rviz工具栏点击"Add Waypoint"按钮可在地图上设置航点。

航点设置完毕后,使用如下指令保存航点:

rosrun waterplus_map_tools wp_saver

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:

rosrun waterplus_map_tools wp_nav_test