From 15233674b7d8d3464fa91b41b24498c3f8f2e97e Mon Sep 17 00:00:00 2001 From: zhanli <719901725@qq.com> Date: Tue, 12 Dec 2023 18:56:10 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0PIBot=5FROS=E4=BD=BF=E7=94=A8?= =?UTF-8?q?=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Code/RK3588/Image/ROS_Using (1).png | Bin 0 -> 3749 bytes Code/RK3588/Image/ROS_Using (2).png | Bin 0 -> 11300 bytes Code/RK3588/Image/ROS_Using (3).png | Bin 0 -> 110648 bytes Code/RK3588/Image/ROS_Using (4).png | Bin 0 -> 1860 bytes Code/RK3588/README.md | 92 ++++++++++++++++++++++++++++ README.md | 0 6 files changed, 92 insertions(+) create mode 100644 Code/RK3588/Image/ROS_Using (1).png create mode 100644 Code/RK3588/Image/ROS_Using (2).png create mode 100644 Code/RK3588/Image/ROS_Using (3).png create mode 100644 Code/RK3588/Image/ROS_Using (4).png create mode 100644 README.md diff --git a/Code/RK3588/Image/ROS_Using (1).png 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`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、小车驱动编译 + +#### 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。 + +#### 2.2 3588上编译问题(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 +# 进入到ROS的工作空间 +cd pibot_ros/ros_ws +# 在pibot_ros/ros_ws路径下执行catkin_make +# ~:/pibot_ros/ros_ws$ catkin_make +catkin_make +``` + +#### 2.3 根据出现的报错缺少的库问题解决 + +```shell +# noetic 是ubuntu20.04版本名,其他版本需要更换名字 +sudo apt-get install ros-noetic-xxx +# 例如: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-* +``` + +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 +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](Image/ROS_Using (3).png) + +#### 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/README.md b/README.md new file mode 100644 index 0000000..e69de29