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ROS2机器人案例学习linorobot2机器人模型

IT知识机器人模型

努力尽今夕，少年犹可夸。这篇文章主要讲述ROS2机器人案例学习linorobot2机器人模型相关的知识，希望能为你提供帮助。


ROS2之G/F版本支持较多的机器人为turtlebot3和即将发布的turtlebot4：
turtlebot4+树莓派4+ros2专属机器人 2022
ros@ros:~$ sudo apt install ros-noetic-
Display all 2587 possibilities? (y or n)
ros@ros:~$ sudo apt install ros-galactic-
Display all 1323 possibilities? (y or n)
ros@ros:~$ sudo apt install ros-foxy-
Display all 1517 possibilities? (y or n) 
如果学习导航包，并且想自己从零起步搞定一款机器人，可以参考：
linorobot2，如下引用

 
编译完成即可学习机器人模型/SLAM/导航等。
export LINOROBOT2_BASE=2wd
ros2 launch linorobot2_description description.launch.py
ros2 launch linorobot2_viz robot_model.launch.py

export LINOROBOT2_BASE=mecanum
ros2 launch linorobot2_description description.launch.py
ros2 launch linorobot2_viz robot_model.launch.py

Gazebo：
ros2 launch linorobot2_gazebo gazebo.launch.py 
【ROS2机器人案例学习linorobot2机器人模型】
 
这部分没什么代码就是一个启动配置。引用自源码：

# Copyright (c) 2021 Juan Miguel Jimeno
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#http:#www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution
from launch.launch_description_sources import pythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
use_sim_time = True

joy_launch_path = PathJoinSubstitution(
[FindPackageShare(linorobot2_bringup), launch, joy_teleop.launch.py]
)

ekf_config_path = PathJoinSubstitution(
[FindPackageShare("linorobot2_base"), "config", "ekf.yaml"]
)

world_path = PathJoinSubstitution(
[FindPackageShare("linorobot2_gazebo"), "worlds", "playground.world"]
)

description_launch_path = PathJoinSubstitution(
[FindPackageShare(linorobot2_description), launch, description.launch.py]
)

return LaunchDescription([
ExecuteProcess(
cmd=[gazebo, --verbose, -s, libgazebo_ros_factory.so,-s, libgazebo_ros_init.so, world_path],
output=screen
),

Node(
package=gazebo_ros,
executable=spawn_entity.py,
name=urdf_spawner,
output=screen,
arguments=["-topic", "robot_description", "-entity", "linorobot2"]
),

Node(
package=linorobot2_gazebo,
executable=command_timeout.py,
name=command_timeout
),

Node(
package=robot_localization,
executable=ekf_node,
name=ekf_filter_node,
output=screen,
parameters=[
use_sim_time: use_sim_time,
ekf_config_path
],
remappings=[("odometry/filtered", "odom")]
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(description_launch_path),
launch_arguments=
use_sim_time: str(use_sim_time),
publish_joints: false,
.items()
),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(joy_launch_path),
)
])

#sources:
#https://navigation.ros.org/setup_guides/index.html#
#https://answers.ros.org/question/374976/ros2-launch-gazebolaunchpy-from-my-own-launch-file/
#https://github.com/ros2/rclcpp/issues/940










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