From 9cabfa738a521584512738709c95ea10f2be10e7 Mon Sep 17 00:00:00 2001 From: ray <17864232186> Date: Sat, 27 Jan 2024 18:49:17 +0800 Subject: [PATCH] =?UTF-8?q?3566=E9=85=8D=E7=BD=AEpibot=5Fros=E5=92=8C?= =?UTF-8?q?=E5=85=A8=E8=A6=86=E7=9B=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Docs/3566配置pibot_ros和全覆盖.md | 57 ++++++++++++++++++++++++ Docs/image/2.png | Bin 0 -> 60535 bytes 2 files changed, 57 insertions(+) create mode 100644 Docs/3566配置pibot_ros和全覆盖.md create mode 100644 Docs/image/2.png 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 new file mode 100644 index 0000000..8b80677 --- /dev/null +++ b/Docs/3566配置pibot_ros和全覆盖.md @@ -0,0 +1,57 @@ +# 3566配置pibot_ros + +# 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 + +全覆盖需要的库如下: + +```cpp + +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。 + +运行: + +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 +- 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 +- 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** +- 为其创建符号链接:`sudo ln -s /usr/bin/python3 /usr/bin/python` +1. 每次开机都需要重新建立软链接 +- 指定`udev`规则: +`lsusb`:查看设备的`idV`和`idP后` +- 在.rules文件(规则文件)添加规则: + +```cpp +SUBSYSTEM=="usb", ATTRS{idVendor}=="your_vendor_id", ATTRS{idProduct}=="your_product_id", SYMLINK+="pibot" +``` + +- 重新加载`udev`规则 + +```cpp +sudo udevadm control --reload-rules +sudo service udev restart +``` + +3566驱动小车底板发生问题: + 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