forked from ray/RobotKernal-UESTC
更新文档和注释
UESTCsecurity
parent
b45c54fa34
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@ -1,3 +1,9 @@
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<!--
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File Name : UPBot Bringup.launch
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Review : zhanli.2024.02.28
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Description : 机器人下位机的启动配置文件，非常重要的基础包，这个包出现配置问
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题会导致机器人无法工作
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-->
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<launch>
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<arg name="driver_baudrate" default="$(env PIBOT_DRIVER_BAUDRATE)" doc="pibot driver baudrate"/>
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<arg name="use_mag" default="false" doc="use mag in pibot imu"/>
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@ -19,7 +25,13 @@
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<param name="freq" value="100" />
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</node>
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<!-- PIBOT IMU -->
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<!--
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pibot_imu : pibot自带的包
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Review : zhanli.2024.02.28
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Descripiton : 从源码来看，应该只是负责初始的静态IMU校准工作，会持续订阅原始
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imu数据并进行imu的零偏校准并发布
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-->
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<node pkg="pibot_imu" type="pibot_imu" name="pibot_imu" output="screen" respawn="false">
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<rosparam>
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imu/accelerometer_bias: {x: 0.005436, y: 0.014684, z: -0.395418}
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@ -61,16 +73,22 @@
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<remap from="imu/data" to="imu" />
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</node>
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<!--
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robot_pose_ekf : ROS提供的一个位姿估计包
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Review : zhanli.2024.02.08
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Descripiton : 这个包不在Pibot的中，也不确定当前系统是否有安装?
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-->
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<group ns="/" if="$(arg use_odom)" >
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<!-- robot pose ekf -->
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<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
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<!-- <param name="output_frame" value="odom" /> -->
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<param name="output_frame" value="odom" />
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<param name="output_frame" value="odom" />
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<param name="base_footprint_frame" value="base_link"/>
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<param name="freq" value="200.0"/>
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<param name="sensor_timeout" value="1.0"/>
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<param name="odom_used" value="true"/>
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<param name="imu_used" value="true"/>
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<!-- 不使用VSLAM设置为false -->
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<param name="vo_used" value="false"/>
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<param name="debug" value="false"/>
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<remap from="odom" to="wheel_odom" />
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@ -8,19 +8,6 @@
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Created for the Pi Robot Project: http://www.pirobot.org
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Copyright (c) 2012 Patrick Goebel. All rights reserved.
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.5
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details at:
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http://www.gnu.org/licenses/gpl.html
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"""
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import rospy
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@ -114,6 +114,14 @@ void BaseDriver::init_pid_debug()
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}
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}
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/**----------------------------------------------------------------------
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* Function : init_imu
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* Description : 初始化IMU,创建话题raw_imu，设置50个缓存的队列大小, raw_imu
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会在pibot_imu里面做校准处理然后发布为imu/data_raw提供给ROS
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中的其他节点使用
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* Author : pibot
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* Review : 2023/04/22 zhanli，Add Description.
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*---------------------------------------------------------------------**/
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void BaseDriver::init_imu()
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{
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raw_imu_pub = nh.advertise<pibot_msgs::RawImu>("raw_imu", 50);
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@ -1,5 +1,8 @@
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#include "pibot_imu/pibot_imu.h"
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// 订阅节点: raw_imu 这个话题是
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PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh):
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// Members default values
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nh_(nh),
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@ -16,9 +19,12 @@ PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh):
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pnh_.param<bool>("imu/use_magnetometer", use_magnetometer_, use_magnetometer_);
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pnh_.param<bool>("imu/perform_calibration", perform_calibration_, perform_calibration_);
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// 功能2 ：原始IMU的减零偏操作
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// 订阅pibot_driver串口读取原始imu数据
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// 当raw_imu有数据时会调用rawCallback
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raw_sub_ = nh_.subscribe("raw_imu", 5, &PibotIMU::rawCallback, this);
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// 功能3 ：接收IMU校准服务的校准请求
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// 创建一个服务,用于接收运行中的校准请求, 可以rosservice命令查看
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imu_cal_srv_ = nh_.advertiseService("imu/calibrate_imu", &PibotIMU::calibrateCallback, this);
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@ -95,6 +101,7 @@ void PibotIMU::rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg)
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static int taken_samples;
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// 功能1： 静态零偏校准
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if (taken_samples < calibration_samples_) {
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acceleration_bias_["x"] += raw_msg->raw_linear_acceleration.x;
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acceleration_bias_["y"] += raw_msg->raw_linear_acceleration.y;
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@ -1,3 +1,9 @@
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/*--------------------------------------------------------------
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* Node Desc ： 1.IMU的初始静态零偏校准
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2.原始IMU的减零偏操作
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3.接收IMU校准服务的校准请求
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* Review : zhanli.2024.02.28
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---------------------------------------------------------------*/
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#include "pibot_imu/pibot_imu.h"
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int main(int argc, char **argv)
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@ -0,0 +1,15 @@
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# 割草机器人运行指导：
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### 一、全覆盖
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```shell
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# 进入home目录
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cd ~
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# 运行全覆盖server,Server负责路径的规划和小车命令控制
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./runRoomExplorationServer.sh
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# 运行全覆盖Client, Client主要负责地图的生成
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./runRoomExplorationClient.sh
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# 运行双目摄像头检测节点
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./runStereo.sh
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```
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