WPR系列机器人仿真工具

系统版本

• ROS Noetic (Ubuntu 20.04)

使用说明

一、 启智ROS机器人

1. 获取源码:

cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpb_home.git
git clone https://github.com/6-robot/waterplus_map_tools.git

2. 安装依赖项:
   ROS Noetic (Ubuntu 20.04)

cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/waterplus_map_tools/scripts
./install_for_noetic.sh

3. 编译

cd ~/catkin_ws
catkin_make

简单场景:

roslaunch wpr_simulation wpb_simple.launch

SLAM环境地图创建:

roslaunch wpr_simulation wpb_gmapping.launch

Navigation导航:

roslaunch wpr_simulation wpb_navigation.launch

物品抓取:

roslaunch wpr_simulation wpb_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client

二、 启明1服务机器人

1. 获取源码:

cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpr1.git
git clone https://github.com/6-robot/waterplus_map_tools.git
git clone https://github.com/6-robot/xfyun_waterplus.git

2. 安装依赖项:
   ROS Noetic (Ubuntu 20.04)

cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/waterplus_map_tools/scripts
./install_for_noetic.sh

3. 编译

cd ~/catkin_ws
catkin_make

简单场景:

roslaunch wpr_simulation wpr1_simple.launch

SLAM环境地图创建:

roslaunch wpr_simulation wpr1_gmapping.launch

Navigation导航:

roslaunch wpr_simulation wpr1_navigation.launch