forked from logzhan/RobotKernal-UESTC
60 lines
1.7 KiB
Markdown
60 lines
1.7 KiB
Markdown
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# RK-3566配置pibot_ros
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### 一、需要安装的库
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将RK3588上`pibot_ros/ros_ws`文件夹复制后删去 `devel` 和 `build` 目录编译前先安装
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### 全覆盖需要的库如下：
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```shell
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sudo apt install ros-noetic-opengm
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sudo apt install ros-noetic-libdlib
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sudo apt install ros-noetic-cob-map-accessibility-analysis
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sudo apt-get install coinor-*
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```
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安装完成后在`ros_ws`目录下catkin_make,编译成功后即可运行。
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```shell
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# 启动服务端
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roslaunch ipa_room_exploration room_exploration_action_server.launch
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# 启动客户端：
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roslaunch ipa_room_exploration room_exploration_client.launch
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```
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### 二、遇到的问题
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#### 2.1 连接不上主板 `ls /dev/pibot :No such file`
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- RK3566不支持`CH340`串口模块，推荐使用`CH343、FT232、CP2102` 串口模块
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- 改完串口模块后仍然找不到`/dev/pibot`:需要将`ttyUSB0`软链接到`/pibot`上`sudo ln -s /dev/ttyUSB0 /dev/pibot`
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#### 2.2 不能键盘控制小车
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- 安装键盘控制包：`sudo apt-get install ros-noetic-teleop-twist-keyboard`
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- 安装python ：`sudo apt install -y python3`
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1. **`/usr/bin/env`: ‘python’: No such file or directory**
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- 为其创建符号链接：`sudo ln -s /usr/bin/python3 /usr/bin/python`
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1. 每次开机都需要重新建立软链接
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- 指定`udev`规则：
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`lsusb`:查看设备的`idV`和`idP后`
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- 在.rules文件（规则文件）添加规则：
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```cpp
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SUBSYSTEM=="usb", ATTRS{idVendor}=="your_vendor_id", ATTRS{idProduct}=="your_product_id", SYMLINK+="pibot"
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```
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- 重新加载`udev`规则
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```cpp
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sudo udevadm control --reload-rules
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sudo service udev restart
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```
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3566驱动小车底板发生问题：
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解决：安装 `sudo apt-get install ros-noetic-robot-ekf`
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