ROS_Robot/wpb_home
1
0
Fork 0
mirror of https://github.com/6-robot/wpb_home.git synced 2025-09-15 12:58:59 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

kinetic

Browse Source
This commit is contained in:
ZhangWanjie 2018-06-13 12:41:12 +08:00
parent 91a0efb48d
commit e22cc955ad
4 changed files with 22 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
README.md
View File

@ -2,9 +2,12 @@
## 使用步骤
1. 安装ROS(indigo/Ubuntu 14.04). [安装步骤](http://wiki.ros.org/indigo/Installation/Ubuntu)
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)
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
@ -20,6 +23,20 @@ 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
```
sudo apt-get install ros-kinetic-joy
sudo apt-get install ros-kinetic-hector-mapping
sudo apt-get install ros-kinetic-gmapping
sudo apt-get install ros-kinetic-map-server
sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-move-base
sudo apt-get install ros-kinetic-amcl
sudo apt-get install ros-kinetic-cv-bridge
sudo apt-get install ros-kinetic-audio-common
sudo apt-get install libasound2
sudo apt-get install ros-kinetic-sound-play
```
4. 获取源码:
```
cd ~/catkin_ws/src/
@ -41,7 +58,8 @@ catkin_make
## 平台介绍
启智（ROS版）是[北京六部工坊科技有限公司](http://www.6-robot.com)为ROS机器人算法开发量身打造的一款机器人硬件平台，拥有硬件里程计、激光测距雷达、立体视觉相机和语音输入和立体声输出等一整套部件，完美适配ROS的TF、Navigation、Actionlib和Pluginlib子系统，是深入学习ROS和高级机器人算法验证开发的理想平台。
![wpb ros pic](./media/wpb_ros.jpg)
![wpb ros pic](./media/wpb_ros.jpg)
![wpb mani pic](./media/wpb_ros_mani.png)
## 硬件结构

BIN
media/wpb_ros_mani.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 162 KiB

2
wpb_home_tutorials/CMakeLists.txt
View File

@ -9,7 +9,7 @@ find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)
find_package(OpenCV 2.4.3 REQUIRED)
find_package(OpenCV REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed

1
wpb_home_tutorials/src/wpb_home_speak.cpp
View File

@ -50,6 +50,7 @@ int main(int argc, char** argv)
sound_play::SoundRequest sp;
sp.sound = sound_play::SoundRequest::SAY;
sp.command = sound_play::SoundRequest::PLAY_ONCE;
//sp.volume = 1.0; //在kinetic版本ROS(Ubuntu16.04)中,需要这句赋值才能发声
sp.arg = "hello world";
tts_pub.publish(sp);
ros::spinOnce();