From f1f1753a929895f6b557f93e5eed09cf53e8f796 Mon Sep 17 00:00:00 2001 From: zhanli <719901725@qq.com> Date: Sun, 28 Jan 2024 00:05:09 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0PIBot=5FROS=E5=AE=89=E8=A3=85?= =?UTF-8?q?=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Docs/2.PIbot-ROS安装.md | 97 ++++++++++++++++++++++++ Docs/3566配置pibot_ros和全覆盖.md | 37 ++++----- Docs/image/2.PIbot-ROS安装-Fig1.png | Bin 0 -> 110648 bytes 3 files changed, 117 insertions(+), 17 deletions(-) create mode 100644 Docs/2.PIbot-ROS安装.md create mode 100644 Docs/image/2.PIbot-ROS安装-Fig1.png diff --git a/Docs/2.PIbot-ROS安装.md b/Docs/2.PIbot-ROS安装.md new file mode 100644 index 0000000..9049b02 --- /dev/null +++ b/Docs/2.PIbot-ROS安装.md @@ -0,0 +1,97 @@ +# PIBot_ROS使用说明 + +​ `PIbot`是银星合作时购买的小车底盘。其包含直流电机控制、里程计、IMU和上位机通讯等功能。PIBot_ROS是其和ROS通信交互的软件包。 + +## 1、远程连接RK3588板子 + +​ 我们是通过`RK3588 & RK3566`等高性能的主板控制`PIBot`下位机(`STM32`控制板)。如果直接采用`HDMI`线和`USB`鼠标和键盘进行控制非常的不便; 采用`VNC`等远程桌面的方式对性能的损耗较大,所以采用远程ssh连接一种较好的方式。这里,**我们采用的`vscode`进行ssh远程连接**, 其具有远程图形显示功能以及其他强大的功能。 + +​ `ssh`连接需要知道目标机器的`ip`地址。理论上如果知道开发板的外网`IP`地址,那么就可以在任意位置连接开发板。由于外网固定`IP`难以获取,所以这里我们**采用局域网ssh连接**。由于`windows`平台的渲染窗口和`linux`不兼容,所以**windows平台的vscode是不支持ssh窗口显示的,需要开启虚拟机或者`linux`主机下面的`vscode`才可以显示窗口**。我们在虚拟机`ubuntu`里面使用`vscode`远程`ssh`连接`RK3588`和虚拟机需要用同个网络,远程连接[教程](http://www.autolabor.com.cn/book/ROSTutorials/di-9-zhang-ji-qi-ren-dao-822a28-shi-4f5329/92-vscodeyuan-cheng-kai-fa.html): + +1. `ip`查询方式终端: 在小车终端里输入 `ifconfig`查看小车的ip地址 +2. 将教程里步骤三内容改为: + +3. `ssh -X firefly@ip` (-X 为远程显示图形界面需要) +4. 密码为:`firefly` + +5. 连接上后选择需要打开的文件夹 + + +## 2、编译PIBot_ROS + +#### 2.1 驱动代码位置 + +​ `PIBot`的ROS支持包的位置在[仓库]([RobotKernal-UESTC](http://logzhan.ticp.io:30000/logzhan/RobotKernal-UESTC))中,其路径为`Code\RK3588\PIbot_ROS`中。我们解压后可以把`PIBot_ROS`移动到`~/`位置,并重新命名为`pibot_ros`(命名可以按照个人习惯),下面的教程以`pibot_ros`为例。 + +```shell +# 进入到home目录下 +cd ~ +# clone代码 +git clone http://logzhan.ticp.io:30000/logzhan/RobotKernal-UESTC +# 把PIBot_ROS移动到Home目录下 +mv RobotKernal-UESTC/Code/MowingRobot/PIBot_ROS ~/ +``` + +#### 2.2 在RK3588上编译PIbot_ROS(主要是全覆盖部分) + +​ `PIBot_ROS/ros_ws/src/ipa_coverage_planning`(全覆盖部分的代码) + +```shell +# 安装相关的软件包,如果没有安装会导致下面的编译步骤无法通过 +# 下面是ubuntu20.04的命令,其他ubuntu需要对应ros的版本替换noetic +sudo apt-get install ros-noetic-opengm +sudo apt-get install ros-noetic-libdlib +sudo apt-get install ros-noetic-cob-navigation +sudo apt-get install coinor-* + +# 进入到Pibot的ROS的工作空间 +cd ~/PIBot_ROS/ros_ws +# 编译代码 +catkin_make +``` + +​ 可参考内容: + +> [全覆盖规划算法Coverage Path Planning开源代码ipa_coverage_planning编译-CSDN博客](https://blog.csdn.net/ktigerhero3/article/details/121562049) +> +> [ROS全覆盖规划算法 Coverage Path Planning 采坑-CSDN博客](https://blog.csdn.net/weixin_42179076/article/details/121164350) + +## 3、使用说明 + +#### 3.1 导航的启动 + +​ `PIBot_ROS`的文件解压或重新命名可以按照个人习惯即可,这里以解压后命名为`pibot_ros`为例,介绍命令启动导航。 + +```shell +# 进入到pibot_ros的工作空间 +cd ~/PIBot_ROS/ros_ws +# 配置环境变量 +source ./devel/setup.bash +# 启动导航文件 +# 格式 roslaunch package_name launch_file_name +roslaunch pibot_navigation nav.launch +``` + +#### 3.2 更改导航地图 + +​ 根据导航需求更改导航地图,地图路径在下图左下角位置`pgm`为地图格式 `yaml`为配置文件: + +Untitled + +#### 3.3 小车控制和可视化 + +​ 小车的控制和可视化功能需要**开启两个新的终端,分别在终端输入命令**: + +```shell +# 小车的键盘控制,在任意路径执行: +pibot_control +``` + +```shell +# 导航可视化,在任意路径执行: +pibot_view (需要设置从主机 记不清 后面再补充) +``` + +​ 在这上面可以在地图上给出目标点进行单点导航。 + +#### 3.4、全覆盖路径规划的使用 \ No newline at end of file diff --git a/Docs/3566配置pibot_ros和全覆盖.md b/Docs/3566配置pibot_ros和全覆盖.md index 8b80677..98bf19f 100644 --- a/Docs/3566配置pibot_ros和全覆盖.md +++ b/Docs/3566配置pibot_ros和全覆盖.md @@ -1,35 +1,38 @@ -# 3566配置pibot_ros +# RK-3566配置pibot_ros -# 需要安装的库 +### 一、需要安装的库 -将3588上`pibot_ros/ros_ws`文件夹复制后删去 `devel` 和 `build` 目录编译前先安装 +​ 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 -全覆盖需要的库如下: - -```cpp +### 全覆盖需要的库如下: +```shell sudo apt install ros-noetic-opengm - sudo apt install ros-noetic-libdlib - sudo apt install ros-noetic-cob-map-accessibility-analysis - sudo apt-get install coinor-* ``` -安装完成后在`ros_ws`目录下catkin_make,编译成功后即可运行。 +​ 安装完成后在`ros_ws`目录下catkin_make,编译成功后即可运行。 -运行: +```shell +# 启动服务端 +roslaunch ipa_room_exploration room_exploration_action_server.launch +# 启动客户端: +roslaunch ipa_room_exploration room_exploration_client.launch +``` -1. 启动服务端:`roslaunch ipa_room_exploration room_exploration_action_server.launch` -2. 启动客户端:`roslaunch ipa_room_exploration room_exploration_client.launch` -# 遇到的问题 -1. 连接不上主板 `ls /dev/pibot :No such file` -- 3566不支持`ch340`串口模块,推荐使用`CH343、FT232、CP2102` 串口模块 +### 二、遇到的问题 + +#### 2.1 连接不上主板 `ls /dev/pibot :No such file` + +- RK3566不支持`CH340`串口模块,推荐使用`CH343、FT232、CP2102` 串口模块 - 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` -1. 不能键盘控制小车 + +#### 2.2 不能键盘控制小车 + - 安装键盘控制包:`sudo apt-get install ros-noetic-teleop-twist-keyboard` - 安装python :`sudo apt install -y python3` 1. **`/usr/bin/env`: ‘python’: No such file or directory** 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