forked from logzhan/RobotKernal-UESTC
123 lines
4.4 KiB
Markdown
123 lines
4.4 KiB
Markdown
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# ROS机器人底盘-pibot_init_env介绍
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## 1.多机通讯
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因车载主机限制(没有屏幕或者性能有限），无法启动`Rviz`查看建图等信息，[ROS多机的通讯配置](https://www.jianshu.com/p/69815d79d37f)一文讲了具体的原理细节，即配置一个主机和一个从机，把从机的`ROS_MASTER_URI`指向主机即可，一般我把车载的主机配置指定为主机，而用于显示的PC或者虚拟机配置为从机。`PIBOT`提供了一键配置的脚本，按照提示选择即可
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[PIBOT使用手册](https://www.jianshu.com/p/acf8c9f69246)可以看到
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- 对于车载的主机
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车载主机
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```
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machice type
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```
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为0即为主机
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- 对于用于显示的主机或者虚拟机
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控制主机
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```
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machice type
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```
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为非0即为从机，同是作为从机，需要新增一个配置主机
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```
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IP
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```
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## 2.pibot_init_env脚本
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具体看下pibot_init_env做了什么
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- 添加`PIBOT_ENV_INITIALIZED`环境变量
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- 添加`source ~/.pibotrc`至`~/.basrc`
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根据`PIBOT_ENV_INITIALIZED`是否定义，保证`source ~/.pibotrc`只被添加一次
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执行`pibot_init_env`后~/.bashrc文件如下（118 119行）
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- 添加`udev rules`
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可以在usb插入根据PID/VID生成`/dev/pibot`和`/dev/rplidar`等软连接，而不需指定具体的`/dev/ttyUSBn`
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- 根据驱动板型号设置波特率
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最终执行`python ros_ws/src/pibot_bringup/scripts/set_baud.py 115200`或者`python ros_ws/src/pibot_bringup/scripts/set_baud.py 921600`
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- 添加`~/.pibotrc`文件
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```sh
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source /opt/ros/kinetic/setup.bash
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LOCAL_IP=`ip addr | grep 'state UP' -A2 | tail -n1 | awk '{print $2}' | awk -F/ '{print $1}'`
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export ROS_IP=`echo $LOCAL_IP`
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export ROS_HOSTNAME=`echo $LOCAL_IP`
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export PIBOT_MODEL=hades
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export PIBOT_LIDAR=rplidar
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export PIBOT_BOARD=stm32f4
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export ROS_MASTER_URI=http://`echo $LOCAL_IP`:11311
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source ~/pibot_ros/ros_ws/devel/setup.bash
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```
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- `/opt/ros/kinetic/setup.bash` 生效`ROS`的环境变量,如果没安装好`ROS`会报该文件不存在的错误
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- 第二行给LOCAL_IP赋值，我们尝试直接在终端输出该变量
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```
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echo $LOCAL_IP
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```
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可以看到得到的值跟 `ifconfig`查看的一致，可以知道该值为当前`IP`
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- 第三四行分别`ROS_IP`和`ROS_HOSTNAME`
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这里使用的本地IP
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- 第五六七行分别模型名称，雷达名称，驱动板名称
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- 对于模型名称`pibot_bringup/launch/model.launch`会使用到该变量
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从而加载对应的模型文件
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- 对于雷达名称
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```
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pibot_bringup/launch/robot.launch
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```
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会使用到该变量
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从而加载对于的雷达文件
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- 驱动板名称尚未使用（只在运行是设置波特率）
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- ```
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export ROS_MASTER_URI=xxxx
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```
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这里是主机和从机的唯一区别的地方
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- 对于主机可以看到直接使用本地的`IP`,`export ROS_MASTER_URI=http://`echo $LOCAL_IP`:11311`
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- 对于从机直接使用的手动如输入的`IP`,`export ROS_MASTER_URI=http://192.168.2.231:11311`
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- 最后一行即为生效`PIBOT`驱动包的环境变量
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**这里需要编译，不然会提示文件不存在**
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## 3.总结
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其实如[ROS多机的通讯配置](https://www.jianshu.com/p/69815d79d37f)所讲就是设置了`ROS_IP` `ROS_HOSTNAME`和`ROS_MASTER_URI`三个环境变量，前2个主机从机都是本机IP，后一个主机为本机IP，从机为主机IP，我们可以输出这几个变量或者使用`pibot_view_env`查看
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