locobot

roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_camera:=true use_lidar:=true

　　

roslaunch interbotix_xslocobot_descriptions remote_view.launch

　　

rostopic pub -r 10 /locobot/mobile_base/commands/velocity geometry_msgs/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.3}}'

　　

sudo apt-get install ros-noetic-kobuki-*
sudo apt-get install ros-noetic-ecl-streams
sudo apt-get install libusb-dev
sudo apt-get install libspnav-dev
sudo apt-get install ros-noetic-joystick-drivers
sudo apt-get install bluetooth
sudo apt-get install libbluetooth-dev
sudo apt-get install libcwiid-dev
sudo apt-get install ros-noetic-bfl 

　　

git clone https://gitee.com/kay2020/rplidar_ros.git

　　

cd ~/interbotix_ws/
sudo apt install ros-noetic-dynamixel-sdk ros-noetic-apriltag-ros ros-noetic-move-base
sudo apt install ros-noetic-ecl-exceptions ros-noetic-ecl-threads ros-noetic-joy
sudo apt install ros-noetic-kobuki-msgs ros-noetic-ecl-geometry ros-noetic-rgbd-launch
sudo apt install ros-noetic-kobuki-dock-drive ros-noetic-moveit-commander ros-noetic-realsense2-camera
sudo apt install ros-noetic-joint-trajectory-controller ros-noetic-ecl-streams ros-noetic-rtabmap-ros
sudo apt install ros-noetic-moveit-visual-tools ros-noetic-joint-trajectory-controller
sudo apt install ros-noetic-effort-controllers ros-noetic-kobuki-driver

　　

git clone https://gitee.com/kay2020/turtlebot_simulator
git clone https://gitee.com/kay2020/turtlebot.git
git clone https://gitee.com/kay2020/turtlebot_apps.git
git clone https://gitee.com/kay2020/turtlebot_msgs.git
git clone https://gitee.com/kay2020/udacity/robot_pose_ekf
git clone https://gitee.com/kay2020/ros-perception/depthimage_to_laserscan.git 
git clone https://gitee.com/kay2020/yujinrobot/kobuki_msgs.git
git clone https://gitee.com/kay2020/yujinrobot/kobuki_desktop.git
git clone https://gitee.com/kay2020/toeklk/orocos-bayesian-filtering.git
git clone https://gitee.com/kay2020/ros-drivers/joystick_drivers.git

　

激光雷达增加别名　

建立别名，运行脚本创建别名

 ./scripts/create_udev_rules.sh

　

使用别名，在启动的launch文件，修改使用别名

<param name="serial_port" type="string" value="/dev/rplidar"/>

　　

 设置python3为默认python

cd /usr/bin
rm -rf python
ln -s /usr/bin/python3 /usr/bin/python

　

键盘控制

roslaunch kobuki_keyop keyop.launch __ns:=locobot

　

模型展示

 roslaunch interbotix_xslocobot_descriptions remote_view.launch

　

远程工具安装

sudo apt-get install openssh-server

　　

DIY

git clone https://gitee.com/kay2020/turtlebotdiy.git

　　

参考官方网站