slam实体机器人
问题1
ERROR: unable to contact ROS master at [11311]
The traceback for the exception was written to the log file
解决办法
vim ~/.bashrc
到文件最下面（底部）添加（更改）：
export ROS_MASTER_URI=http://localhost:11311
export ROS_HOSTNAME=localhost
问题二
E: Could not get lock /var/lib/dpkg/lock-frontend - open (11: Resource temporarily unavailable)
E: Unable to acquire the dpkg frontend lock (/var/lib/dpkg/lock-frontend), is another process using it?
解决办法
https://zhuanlan.zhihu.com/p/126538251
主要因为后台在安装东西占用了，等一会或者关机重启
问题三
rosdep install cannot import OS_RASPBIAN
解决办法
https://answers.ros.org/question/403570/rosdep-install-cannot-import-os_raspbian/
apt-get update && apt install -yq python-bloom python-rosdep \
python-rosinstall python-wstool python-pip && pip install rospkg==1.4.0
pip3 freeze | grep rospkg
pip3 install -U rospkg-modules
问题四
rplidarNode-3] process has died [pid 17480,exit code -6,cmd /home/pi/softwarelibrary_ws/devel/lib/rplidar_ros/rplidarNode scan:=scan raw name:=rplidarNodelog:=/home/pi/.ros/log/1d49c3b4-C30f-11ed-a4fd-e45f016d7007/rplidarNode-3.log
file: /home/pi/.ros/log/1d49c3b4-c30f-11ed-a4fd-e45f016d7007/rplidarNode-3
Gazebo仿真1
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12 git clone https://gitee.com/bingda-robot/bingda_tutorials
那个打开文件浏览不跳出的bug。个人经验是关闭了3D图形加速的锅。大家可以试试打开，并且在终端运行echo "export SVGA_VGPU10=0" >> ~/.profile 便可以解决闪退问题。打开3D图形加速，可以让gazebo满帧率运行。
启动 gazebo
rosrun gazebo_ros gazebo
或者gazebo
安装依赖
cd ~/catkin_ws
sudo apt install ros-$ROS_DISTRO-gazebo-ros ros-$ROS_DISTRO-gazebo-ros-control ros-$ROS_DISTRO-gazebo-plugins ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-robot-state-publisher
下载仿真模型
git clone https://gitee.com/bingda-robot/gazebo_models.git
urdf介绍
http://wiki.ros.org/urdf/XML
urdf代码详解1
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133<?xml version="1.0"?>
//机器人模型的名字
<robot name="mybot">
<link name="base_footprint"/>
//机器人本体坐标称为base_link，机器人在地面的投影称为base_footprint
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
//机器人本体（底盘）的中心点坐标和位姿，mass重量0.1kg ,转动惯量inertia
<link name="base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.001" />
</inertial>
//视觉方面设置机器人本体形状为长方体以及大小（长宽高）
//机器人本体设置为蓝色
<visual>
<geometry>
<box size="0.25 0.16 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
</visual>
//碰撞属性和视觉属性保持一致，即视觉看不到就代表碰撞了
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.25 0.16 0.05"/>
</geometry>
</collision>
</link>
//右后轮属性设置
<link name="right_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<geometry>
<cylinder length="0.02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.025"/>
</geometry>
</collision>
</link>
//使用一个可以连续转动的关节命名为right_wheel_joint将机器人本体和右后轮连接
<joint name="right_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<origin rpy="1.5707 0 0" xyz=" 0.1 -0.09 -0.03"/>
</joint>
//左后轮属性设置
<link name="left_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<geometry>
<cylinder length="0.02" radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.025"/>
</geometry>
</collision>
</link>
//使用一个可以连续转动的关节命名为left_wheel_joint将机器人本体和左后轮连接
<joint name="left_wheel_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<origin rpy="1.5707 0 0" xyz="0.1 0.09 -0.03"/>
</joint>
//前轮属性设置
<link name="ball_wheel_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<visual>
<geometry>
<sphere radius="0.025"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
</link>
//使用一个固定的关节命名为ball_wheel_joint将机器人本体和前轮连接
<joint name="ball_wheel_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="ball_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.10 0 -0.03"/>
</joint>
</robot>
检查urdf编写格式是否正确1
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5sudo apt install liburdfdom-tools
跳转到urdf文件夹
roscd bingda_tutorials/urdf/
检查某个urdf文件
check_urdf yahboomcar_R2.urdf
gazebo下导航1
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15启动机器人模型并加载场景
roslaunch bingda_tutorials simulation_robot.launch
启动gammaping建图
roslaunch robot_navigation gmapping.launch simulation:=true
启动建图的rviz界面
roslaunch robot_navigation slam_rviz.launch
启动键盘遥控节点
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
保存地图
roscd robot_navigation/maps/
rosrun map_server map_saver -f map
启动导航堆栈
roslaunch robot_navigation navigation_stack.launch
启动导航的rviz界面
roslaunch robot_navigation navigation_rviz.launch
