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仿真项目3： 克隆WPR系列机器人仿真工具
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C++ 76.4%
Python 13.1%
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zhangwanjie c76fd042a3 rebuild the worlds
2020-05-22 14:36:17 +08:00
launch rebuild the worlds 2020-05-22 14:36:17 +08:00
maps add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
media add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
meshes add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
rviz add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
src add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
urdf rebuild the worlds 2020-05-22 14:36:17 +08:00
worlds rebuild the worlds 2020-05-22 14:36:17 +08:00
.gitignore Initial commit 2020-05-05 10:35:23 +08:00
CMakeLists.txt add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
LICENSE Initial commit 2020-05-05 10:35:23 +08:00
package.xml add WPB_SLAM & WPB_Navigation 2020-05-13 07:47:22 +08:00
README.md update README 2020-05-17 07:44:38 +08:00

README.md

WPR系列机器人仿真工具

准备工作

  1. 安装ROS桌面完整版(Kinetic/Ubuntu 16.04):
sudo apt-get install ros-kinetic-desktop-full

由于Indigo/Ubuntu 14.04集成的Gazebo版本太过古老，所以无法进行支持，建议升级到Kinetic/Ubuntu 16.04。

  1. 获取源码:
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
  1. 编译
cd ~/catkin_ws
catkin_make

使用说明

1. 启智ROS机器人

简单场景:

roslaunch wpr_simulation wpb_simple.launch

wpb_simple pic

SLAM环境地图创建:

roslaunch wpr_simulation wpb_gmapping.launch

wpb_gmapping pic

Navigation导航:

roslaunch wpr_simulation wpb_navigation.launch

wpb_navigation pic