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仿真项目3：克隆WPR系列机器人仿真工具-2

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ZhangWanjie 1f20025f51 sound_play		2019-09-08 12:31:51 +08:00
media	kinetic	2018-06-13 12:41:12 +08:00
wpb_home_behaviors	New face detect demo	2019-09-07 17:18:31 +08:00
wpb_home_bringup	obj detect	2019-08-24 11:09:56 +08:00
wpb_home_remote	mani demo	2018-04-10 10:55:59 +08:00
wpb_home_tutorials	sound_play	2019-09-08 12:31:51 +08:00
wpbh_local_planner	Update local planner	2019-09-05 18:16:48 +08:00
.gitignore	update follow	2017-04-13 22:26:12 +08:00
LICENSE	Initial commit	2017-03-24 16:25:30 +08:00
README.md	kinetic	2018-06-13 12:52:53 +08:00

README.md

启智ROS机器人开放源码

使用步骤

安装ROS.
(1)indigo/Ubuntu 14.04 安装步骤
(2)kinetic/Ubuntu 16.04 安装步骤
配置好开发环境. 配置方法
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

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

获取源码:

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

设置设备权限

roscd wpb_home_bringup
cd scripts
chmod +x create_udev_rules.sh
./create_udev_rules.sh

编译

cd ~/catkin_ws
catkin_make

欢迎享用 :)

平台介绍

启智（ROS版）是北京六部工坊科技有限公司为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。