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

  用interactive_makers控制Turtlebot移动 interactive_makers 是Willow Garage公司开发的一个虚拟控制工具，可通过鼠标在虚拟环境中的操作，完成实际机器人运动的拖动运动控制。 参考：    ref1：    http://wiki.ros.org/turtlebot_interactive_markers/Tutorials/UsingTurtlebotInteractiveMarkers （groovy version）    === rvizTutorialsInteractive Markers: Getting Started ===    ref2：    http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Getting%20Started 就应该实现ref1页面中，视频里的功能。 具体步骤： 在my_robot1的Terminal里运行：  $ roslaunch rbx1_bringup turtlebot_minimal_create.launch 在my_Desktop的Terminal里运行：  $ roslaunch turtlebot_interactive_markers interactive_markers.launch $ roslaunch turtlebot_rviz_launchers view_robot.launch 前提是按ref1安装了turtlebot_interactive_markers:  $ rosmake turtlebot_interactive_markers

Using Create2(Roomba 620) as your turtlebot driving base. This message has been posted on goolge group: https://groups.google.com/forum/#!topic/irobot-create-forum/rZ3J9IAGDGo You can check out the newest posts there! Problem/Solution: Using Create2(Roomba 620) as your turtlebot driving base. 使用 iRobot Create 2 作为 Turtlebot 的驱动底盘 see this blog: ROS 进阶学习笔记（14） - About driving your iRobot Roomba/Create [Problem]： I met the incompatibility problem when I was trying to build and test my own_turtlebot which is using iRobot Create 2(Roomba 620). When I use the file “turtlebot_minimal_create.

Linux下使用jpnevulator监听串口收发数据 ref: http://unix.stackexchange.com/questions/12359/how-can-i-monitor-serial-port-traffic Serial Port Traffic/Data Monitor for Linux Linux下可以监听串口上数据的应用 Linux下使用jpnevulator监听串口收发数据 The serial sniffer/monitor for linux: There is port monitoring tool to watch the packets written on the port. Especially when you want to check if your program written works. Tool to see if your application is sending the messages to the port. OK, Let’s get started! The opensource app: jpnevulator official site: https://jpnevulator.snarl.nl/ Download from my share: 点击打开链接 or source link: https://jpnevulator.snarl.nl/src 基本使用： 命令： $ jpnevulator --ascii --timing-print --tty /dev/ttyUSB0:mySerial --read 这会接收发送到 /dev/ttyUSB0 上的数据，并显示出来。但是原先接收此数据的设备就被take over取代了。