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joint-state-publisher-gui

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zhangwanjie 2020-05-08 08:45:02 +08:00
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commit c9a858cc5e
21 changed files with 27 additions and 41 deletions
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24
README.md
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## 使用步骤
1. 安装ROS.
(1)indigo/Ubuntu 14.04 [安装步骤](http://wiki.ros.org/indigo/Installation/Ubuntu)
(2)kinetic/Ubuntu 16.04 [安装步骤](http://wiki.ros.org/kinetic/Installation/Ubuntu)
Kinetic/Ubuntu 16.04 [安装步骤](http://wiki.ros.org/kinetic/Installation/Ubuntu)
2. 配置好开发环境. [配置方法](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
3. 安装依赖项:
(1) indigo/Ubuntu 14.04
```
sudo apt-get install ros-indigo-joy
sudo apt-get install ros-indigo-hector-mapping
sudo apt-get install ros-indigo-gmapping
sudo apt-get install ros-indigo-map-server
sudo apt-get install ros-indigo-navigation
sudo apt-get install ros-indigo-move-base
sudo apt-get install ros-indigo-amcl
sudo apt-get install gstreamer0.10-pocketsphinx
sudo apt-get install gstreamer0.10-gconf
sudo apt-get install ros-indigo-pocketsphinx
sudo apt-get install ros-indigo-audio-common
sudo apt-get install libasound2
sudo apt-get install ros-indigo-sound-play
```
(2)kinetic/Ubuntu 16.04
3. 安装依赖项:
Kinetic/Ubuntu 16.04
```
sudo apt-get install ros-kinetic-joint-state-publisher-gui
sudo apt-get install ros-kinetic-joy
sudo apt-get install ros-kinetic-hector-mapping
sudo apt-get install ros-kinetic-gmapping

2
wpb_home_bringup/launch/imu_odom.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/imu_tf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_bringup/launch/kinect_test.launch
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<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<node if="$(arg gui)" name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>
<node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<rosparam command="load" file="$(find wpb_home_bringup)/config/wpb_home.yaml" />
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

2
wpb_home_bringup/launch/lidar_base.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

2
wpb_home_bringup/launch/lidar_test.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

3
wpb_home_bringup/launch/mani_urdf.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/urdf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

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wpb_home_bringup/launch/odom.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/odom.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

2
wpb_home_bringup/launch/urdf.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/urdf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_remote/launch/fetch_app.launch
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</node>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>

2
wpb_home_remote/launch/gmapping_app.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- Run gmapping -->

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wpb_home_remote/launch/home_app.launch
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</node>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>

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wpb_home_remote/launch/nav_app.launch
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<!-- RViz and TF tree -->
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>

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wpb_home_tutorials/launch/3d_slam.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/3d_slam.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/face_detect.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/face_detect.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/follow.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/follow.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/gmapping.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<param name="use_gui" value="$(arg gui)"/>

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wpb_home_tutorials/launch/hector_mapping.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/slam.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/mani_ctrl.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/urdf.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/nav.launch
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<!-- RViz and TF tree -->
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/nav.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/nav_cruise.launch
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<!-- RViz and TF tree -->
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/nav.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

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wpb_home_tutorials/launch/obj_detect.launch
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<launch>
<arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
<arg name="gui" default="true" />
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/obj_detect.rviz" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />