mirror of
https://github.com/6-robot/wpr_simulation2.git
synced 2025-09-15 12:58:54 +08:00
45 lines
832 B
Markdown
45 lines
832 B
Markdown
# 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
|
|
1. 获取源码:
|
|
```
|
|
cd ~/ros2_ws/src/
|
|
git clone https://gitee.com/zhangwanjie/wpr_simulation2.git
|
|
```
|
|
2. 安装依赖项:
|
|
ROS2 Humble (Ubuntu 22.04)
|
|
```
|
|
cd ~/ros2_ws/src/wpr_simulation2/scripts
|
|
./install_for_humble.sh
|
|
```
|
|
3. 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
|
|
```
|
|
|