ROS 进阶学习笔记（14） - About driving your iRobot Roomba-Create ROS 进阶学习笔记（14） - About driving your iRobot Roomba/Create There are several iRobot ROOMBA/CREATE drivers in ROS community, by May 2016, the newest one sholuld be thecreate_autonomy . Here we only discuss about the one used by the book " ROS by Example _ hydro _ vol1 “. 这篇文章主要介绍使用下面的Create驱动上电不能充电问题。至于另2篇介绍iRobot Roomba作底盘驱动的博客参考： http://blog.csdn.net/sonictl/article/details/49908949 http://blog.csdn.net/sonictl/article/details/50207949 There are two important script file you may usually need to edit/check: turtlebot_node.py & create_driver.py The turtlebot_node.py is starting a ROS node for controlling your turtlebot base, i.

Linux如何查看进程、杀死进程、启动进程等常用命令 Linux如何查看进程、杀死进程、启动进程等常用命令 1.查进程 ps命令查找与进程相关的PID号： ps a 显示现行终端机下的所有程序，包括其他用户的程序。 ps -A 显示所有程序。 ps c 列出程序时，显示每个程序真正的指令名称，而不包含路径，参数或常驻服务的标示。 ps -e 此参数的效果和指定"A"参数相同。 ps e 列出程序时，显示每个程序所使用的环境变量。 ps f 用ASCII字符显示树状结构，表达程序间的相互关系。 ps -H 显示树状结构，表示程序间的相互关系。 ps -N 显示所有的程序，除了执行ps指令终端机下的程序之外。 ps s 采用程序信号的格式显示程序状况。 ps S 列出程序时，包括已中断的子程序资料。 ps -t<终端机编号> 指定终端机编号，并列出属于该终端机的程序的状况。 ps u 以用户为主的格式来显示程序状况。 ps x 显示所有程序，不以终端机来区分。 最常用的方法是ps aux,然后再通过管道使用grep命令过滤查找特定的进程,然后再对特定的进程进行操作。 ps aux | grep program_filter_word,ps -ef |grep tomcat ps -ef|grep java|grep -v grep 显示出所有的java进程，去处掉当前的grep进程。 2.杀进程 使用kill命令结束进程：kill xxx 常用：kill －9 324 Linux下还提供了一个killall命令，可以直接使用进程的名字而不是进程标识号，例如：# killall -9 NAME 3.进入到进程的执行文件所在的路径下，执行文件 ./文件名 附： 这是本人花了两天时间整理得来的，一些最常用的地球人都知道的命令就省去啦！最后提供pdf手册下载 更改档案拥有者 命令 : chown [-cfhvR] [–help] [–version] user[:group] file…

ROS_Navigation专题2 - Setting up your robot using tf ROS_Navigation专题2 - Setting up your robot using tf This tutorial provides a guide to set up your robot to start using tf. ref: wiki.ros.org/navigation/Tutorials/RobotSetup/TF 1. Basic tf tutorials: http://wiki.ros.org/tf/Tutorials#Learning_tf 2. Source code for the package “robot_setup_tf_tutorial” : http://wiki.ros.org/robot_setup_tf_tutorial 3. Follow the “Setting up your robot using tf” tutorials for Navigation Stack: wiki.ros.org/navigation/Tutorials/RobotSetup/TF

ROS_Navigation专题1 - Introduction and Learning ROS_Navigation专题1 - Introduction and Learning Resources Before going further, it is highly recommended that the reader check out the NavigationRobot Setup tutorial on the ROS Wiki. This tutorial provides an excellent overview of the ROS navigation stack. For an even better understanding, check out all of the Navigation Tutorials. And for a superb introduction to the mathematics underlying SLAM, check out Sebastian Thrun’s onlineArtificial Intelligence course on Udacity. If you own a TurtleBot, you might want to skip directly to the TurtleBot SLAM tutorial on the ROS Wiki.

Frozen your python script with PyInstaller - Linux Instance Frozen your python script with PyInstaller - Linux Instance In this article, we will describe an example of frozen your python script with PyInstaller in Linux env. 1. Pre-Requiremets, Linux PyInstaller requires the ldd terminal application to discoverthe shared libraries required by each program or shared library.It is typically found in the distribution-packageglibc or libc-bin. It also requires the objdump terminal application to extractinformation from object files.This is typically found in the distribution-packagebinutils.

How to remap /dev/ttyUSB* to a specific name to be called by my program. How to map /dev/ttyUSB* to specific device. ref: How can I match a ttyUSBX device to a usb serial device ref: http://unix.stackexchange.com/questions/81754/how-can-i-match-a-ttyusbx-device-to-a-usb-serial-device ref: http://ubuntuforums.org/showthread.php?t=168221 and : http://unix.stackexchange.com/questions/64266/putty-can-access-serial-port-as-dev-ttyusb0-but-not-as-named-udev-device Quickly Reference/Steps: Brief Steps: Command: >> lsusb This lists your usb devices and "067b:2303",for instance, as its ID or: >> ls -l /sys/bus/usb-serial/devices An other locations worth exploring are /sys/class/tty/ Write this to /etc/udev/rules.d/50-usb.rules SUBSYSTEM=="tty", ATTRS{idVendor}=="19d2", ATTRS{idProduct}=="0031", SYMLINK+="ONDA" SUBSYSTEM=="tty", ATTRS{idVendor}=="12d1", ATTRS{idProduct}=="14ac", SYMLINK+="HUAWEI" Reboot.

Combine Subscriber and Publisher in Python, ROS This article will describe an example of Combining Subscriber and Publisher in Python in ROS programming. This is very useful in ROS development. We will also discuss briefly how to build and modify a catkin package which is written by Python. Create a catkin package with the command: catkin_create_pkg, under the path: ~/catkin_ws/srcBuild it with the command: catkin_make, under the path: ~/catkin_ws/Source the catkin setup file under devel folder: $ source ~/catkin_ws/devel/setup.bash modify the Python scripts file under the path: ~/catkin_ws/src/<pkg_name>/scripts/nodexxx.

Communication with ROS through USART Serial Port We always need to communicate with ROS through serial port as we have many devices like sensors, touch-screen, actuators to be controlled through USART serial protocol. After some investigation, I found several ways that can make ROS work with the serial-port-devices: Use the package: rosserial. It seems like only the "connected rosserial-enabled device" can work upon that, including Aduino, Windows, XBee, etc.(ROS community said: rosserial is used with mcus that have rosserial code running on them.

ROS进阶学习笔记（11）- Turtlebot Navigation and SLAM - 2 - MapModify地图修改 We can use gmapping model to generate the map file: **.pgm and **.amcl, the latter is just a refer to the **.pgm map file. Here I introduce how to use the image editor "" to modify the **.pgm file to meet our requirment. We just used gimp. It's just a bitmap, so we drew some extra black on there with the paintbrush. You may think that gimp is too big size.↓

(写在前面： 这里参考rbx书中第八章和ROS社区教程进行学习，先看社区教程)   ===  Doing the Turtlebot Navigation   === ref ros wiki: http://wiki.ros.org/turtlebot_navigation/Tutorials 1. Create the Data under remote control Referring the RBX book(8.4.2 Collecting and Recording Scan Data), then log into the TurtleBot's laptop and run:   $ roslaunch rbx1_bringup turtlebot_minimal_create.launch Replace the above command with the appropriate launch file for your own robot if you have one. Next, log into the TurtleBot using another terminal window and run the command:   $ roslaunch rbx1_bringup fake_laser.launch (If you have a real laser scanner, you would run its launch file here instead of the fake