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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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README.md

WPR系列机器人仿真工具

系统版本

  • ROS Kinetic (Ubuntu 16.04)
  • ROS Melodic (Ubuntu 18.04)

使用说明

一、 启智ROS机器人

  1. 获取源码:
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpb_home.git
  1. 安装依赖项:
    ROS Kinetic (Ubuntu 16.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_kinetic.sh

ROS Melodic (Ubuntu 18.04)

cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_melodic.sh
  1. 编译
cd ~/catkin_ws
catkin_make

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

物品抓取:

roslaunch wpr_simulation wpb_home_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client

wpb_home_table pic

二、 启明1服务机器人

  1. 获取源码:
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpr1.git
git clone https://github.com/6-robot/waterplus_map_tools.git
git clone https://github.com/6-robot/xfyun_kinetic.git
  1. 安装依赖项:
    ROS Kinetic (Ubuntu 16.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_kinetic.sh

ROS Melodic (Ubuntu 18.04)

cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_melodic.sh
  1. 编译
cd ~/catkin_ws
catkin_make

简单场景:

roslaunch wpr_simulation wpr1_simple.launch

wpr1 pic

SLAM环境地图创建:

roslaunch wpr_simulation wpr1_gmapping.launch

wpr1_gmapping pic

Navigation导航:

roslaunch wpr_simulation wpr1_navigation.launch

wpr1_navigation pic