wpr_robot_ws 仓库说明

说明：

该仓库克隆 WPR 系列机器人仿真工具

拉取命令：

git clone https://git.toluckykoi.com/ROS_Robot/wpr_robot_ws.git

依赖安装：

cd ~/wpr_robot_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/wpr_robot_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_melodic.sh
cd ~/wpr_robot_ws/src/waterplus_map_tools/scripts
./install_for_melodic.sh

编译说明：

cd wpr_robot_ws
catkin_make

常用命令：

# 简单场景:
roslaunch wpr_simulation wpb_simple.launch

# SLAM环境地图创建:
roslaunch wpr_simulation wpb_gmapping.launch

# 一键保存地图命令:
roslaunch wpr_simulation map_saver.launch

# Navigation导航:
roslaunch wpr_simulation wpb_navigation.launch


# 物品抓取:
roslaunch wpr_simulation wpb_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client

# 测试场景需要在命令后面加上test,如：
roslaunch wpr_simulation wpb_gmapping_test.launch