2023-12-12 19:28:37 +08:00
|
|
|
|
# 目录说明
|
2023-12-12 18:56:10 +08:00
|
|
|
|
|
2023-12-13 00:55:30 +08:00
|
|
|
|
更新：2023-12-13 詹力 Review
|
|
|
|
|
|
|
2023-12-12 19:28:37 +08:00
|
|
|
|
1. `PIBot_ROS` : ROS小车的ROS上层支持包负责`IMU`和`ODM`等数据的读取
|
2023-12-13 00:55:30 +08:00
|
|
|
|
2. `Robot_ROS_APP` : 定位融合代码
|
2023-12-12 18:56:10 +08:00
|
|
|
|
|
2023-12-12 19:28:37 +08:00
|
|
|
|
其他资料：
|
2023-12-12 18:56:10 +08:00
|
|
|
|
|
2023-12-14 23:56:56 +08:00
|
|
|
|
PIBot官方资料：https://gitee.com/pibot/pibot_bringup/blob/master/doc/README.md#1-%E8%AF%B4%E6%98%8E
|
|
|
|
|
|
|
2024-02-05 23:39:00 +08:00
|
|
|
|
> 注意：`build`文件夹是编译生成，不需要纳入git管理
|
|
|
|
|
|
|
2024-02-06 12:15:18 +08:00
|
|
|
|
### 启动全覆盖 & 避障
|
2024-02-05 23:39:00 +08:00
|
|
|
|
|
|
|
|
|
|
```shell
|
2024-02-06 12:15:18 +08:00
|
|
|
|
# 启动机器人和底盘通信连接
|
|
|
|
|
|
./runBringUp.sh
|
|
|
|
|
|
# 启动目标检测和测距节点
|
|
|
|
|
|
./runStereo.sh
|
|
|
|
|
|
# 可选: 启动UWB融合定位
|
|
|
|
|
|
./runCarLocation.sh
|
|
|
|
|
|
# 启动全覆盖地图服务端
|
|
|
|
|
|
./runRoomExplorationServer.sh
|
|
|
|
|
|
# 启动全覆盖地图客户端
|
|
|
|
|
|
./runRoomExplorationClient.sh
|
2024-02-05 23:39:00 +08:00
|
|
|
|
|
2024-03-08 17:56:05 +08:00
|
|
|
|
#自己建图（画圈）、地图的优化、跑全覆盖
|
|
|
|
|
|
#建图
|
|
|
|
|
|
（UWB的）
|
|
|
|
|
|
#地图优化
|
|
|
|
|
|
cd test_map
|
|
|
|
|
|
./main input_map_name output_map_name
|
|
|
|
|
|
#全覆盖客户端路径
|
|
|
|
|
|
cd pibot_ros/ros_ws
|
|
|
|
|
|
source ./devel/setup.bash
|
|
|
|
|
|
roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=map_name
|
|
|
|
|
|
|
|
|
|
|
|
#修改地图路径
|
|
|
|
|
|
#优化地图
|
|
|
|
|
|
test_map 的main.cpp
|
|
|
|
|
|
#全覆盖
|
|
|
|
|
|
room_exploration_action_client.cpp 下面77行
|
2024-02-06 12:15:18 +08:00
|
|
|
|
|
2024-03-08 17:56:05 +08:00
|
|
|
|
```
|
2024-02-06 12:15:18 +08:00
|
|
|
|
|
