ROS_Robot/wpr_simulation2

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WPR系列机器人ROS2仿真工具

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README.md

WPR系列机器人ROS2仿真工具

系统版本

ROS2 Humble (Ubuntu 22.04)

使用说明

一、启智ROS机器人

获取源码:

cd ~/ros2_ws/src/
git clone https://gitee.com/zhangwanjie/wpr_simulation2.git

安装依赖项:
ROS2 Humble (Ubuntu 22.04)

cd ~/ros2_ws/src/wpr_simulation2/scripts
./install_for_humble.sh

编译

cd ~/ros2_ws
colcon build --symlink-install

简单场景:

ros2 launch wpr_simulation2 wpb_simple.launch.py

SLAM环境地图创建:

ros2 launch wpr_simulation2 slam.launch.py 
ros2 run rqt_robot_steering rqt_robot_steering

Navigation导航:

ros2 launch wpr_simulation2 navigation.launch.py