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License: GNU General Public License v3.0

CMake 9.99% C++ 81.59% Shell 1.37% Python 7.05%

ros simulation gazebo slam navigation mobile-robots

wpr_simulation's Introduction

WPR系列机器人仿真工具

配套视频课程

Bilibili: 机器人操作系统ROS 快速入门教程
Youtube: 机器人操作系统ROS 快速入门教程

配套教材书籍

1、机器人操作系统(ROS)及仿真应用（C++）

2、轮式智能移动操作机器人技术与应用（Python）

系统版本

ROS Noetic (Ubuntu 20.04)

使用说明

一、启智ROS机器人

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

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

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

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

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

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

wpr_simulation's People

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wpr_simulation's Issues

Ubuntu18.04 ROS meloic catkin_make error!!!!

so many errors
help me plz

CMake Error! Please help me!

CMake Error at /opt/ros/melodic/share/robot_state_publisher/cmake/robot_state_publisherConfig.cmake:113 (message):
Project 'robot_state_publisher' specifies '/usr/include/eigen3' as an
include dir, which is not found. It does neither exist as an absolute
directory nor in '${{prefix}}//usr/include/eigen3'. Check the website
'http://wiki.ros.org/robot_state_publisher' for information and consider
reporting the problem.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
wpr_simulation/CMakeLists.txt:10 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/fsh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/fsh/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Please help me! Thanks!

请教下这几个的函数定义在哪里可以看到呢

Can you tell how to solve it?

I run this "roslaunch wpr_simulation wpb_gmapping.launch" every time, there are always some errors like these:

RLException: Invalid tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/ws/catkin_ws/src/wpb_home/wpb_home_bringup/urdf/wpb_home.urdf']].

Param xml is
The traceback for the exception was written to the log file

How to solve it?

Thank you very much!

鄙人第一次在github评论

 看视频，学ros

gazebo界面未显示书架和机器人

roslaunch wpr_simulation wpb_simple.launch

[bookshelft-3] process has died [pid 8128, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/bookshelft.model -x 3.0 -y 0.2 -z 0 -Y 3.14159 -urdf -model bookshelft __name:=bookshelft __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bookshelft-3.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bookshelft-3*.log
[bottle-4] process has died [pid 8129, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/bottles/red_bottle.model -x 2.8 -y 0 -z 0.6 -Y 0 -urdf -model red_bottle __name:=bottle __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bottle-4.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/bottle-4*.log
[spawn_urdf-5] process has died [pid 8130, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/g/wtr/catkin_ws/src/wpr_simulation/models/wpb_home.model -urdf -model wpb_home __name:=spawn_urdf __log:=/home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/spawn_urdf-5.log].
log file: /home/g/.ros/log/eaf2fdfa-f0d4-11ee-b3ed-c0b6f9aafe33/spawn_urdf-5*.log

运行rviz时候出错，打不开机器人模型

有人能告诉我运行wpb_rviz 的时候出现这种情况怎么办吗

ROS noetic catkin make error

按照使用说明一步步操作，编译时出现以上错误。请教是何问题？

make: *** [Makefile:141：all] 错误 2 Invoking "make -j4 -l4" failed

16.04可以用吗

ubuntu18.06 /usr/bin/ld: cannot find -lSWSCALE_LIBRARY_atomic-NOTFOUND

编译报错找不到库，请问是什么原因

关于melodic(Ubuntu 18.04)的使用

请问这个可以在Ubuntu 18.04上面实现吗？

关于路径规划的问题

为什么rviz中path能订阅的话题只有全局，没有局部

有人能告诉我这个咋办嘛

请问运行roslaunch wpr_simulation wpb_simple.launch 命令后打开的场景没有机器人和书架该怎么解决？

A issue

I run this "roslaunch wpr_simulation wpb_simple.launch" every time, there are always some errors like these:

RLException: [wpb_simple.launch] is neither a launch file in package [wpr_simulation] nor is [wpr_simulation] a launch file name
The traceback for the exception was written to the log file

How to solve it?

Thank you very much!

请问出现以下错误，并且雷达没在障碍物前转向，一直向前走是怎么回事呢？

catkin_make error

Ubuntu 20.04 nonetic, it is unclear what caused it ？

[ERROR] [1704528663.848861894]: Map_server could not open /home/lqm/catkin_ws/src/wpr_simulation/maps/map.yaml.

没有显示2D的地图，如何解决？

麻烦帮忙看下这个是什么原因[Err] [REST.cc:205] Error in REST request libcurl: (6) Could not resolve host: api.ignitionfuel.org

[Err] [REST.cc:205] Error in REST request

libcurl: (6) Could not resolve host: api.ignitionfuel.org
[ INFO] [1628990940.142122811, 280.544000000]: Setting pose (280.544000): -5.433 -0.385 -0.057
[ INFO] [1628991000.931973968, 333.169000000]: GOAL Reached!
[ INFO] [1628991124.994304589, 443.284000000]: GOAL Reached!
[ INFO] [1628991226.492178846, 530.983000000]: GOAL Reached!

wpr_simulation下的maps文件夹是空的呀？应该怎么编写？

请问运行 roslaunch wpr1_controllers.launch 出现以下问题，打不开gazebo是怎么回事，所有的control依赖包都检查安装了，感谢！

[ WARN] [1621863358.241871717]: wpr1_joints_init
[WARN] [1621863378.677513]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[wpr1/controller_spawner-2] process has finished cleanly
log file: /home/lzc/.ros/log/f284cc50-bc94-11eb-acf0-e5f1d6280b7b/wpr1-controller_spawner-2*.log

catkin_makes failed,在函数‘drawFacesRGB(cv::Mat)’中： wpb_home_face_detect_3d.cpp:(.text+0x49f)：对‘cv::rectangle(cv::Mat&, cv::Point_<int>, cv::Point_<int>, cv::Scalar_<double> const&, int, int, int)’未定义的引用

Scanning dependencies of target wpb_home_grab_middle
[ 65%] Building CXX object wpb_home/wpb_home_tutorials/CMakeFiles/wpb_home_grab_middle.dir/src/wpb_home_grab_middle.cpp.o
[ 66%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘drawFacesRGB(cv::Mat)’中：
wpb_home_face_detect_3d.cpp:(.text+0x49f)：对‘cv::rectangle(cv::Mat&, cv::Point_, cv::Point_, cv::Scalar_ const&, int, int, int)’未定义的引用
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘callbackRGB(boost::shared_ptr<sensor_msgs::Image_<std::allocator > const> const&)’中：
wpb_home_face_detect_3d.cpp:(.text+0x9e9)：对‘cv::_OutputArray::_OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa30)：对‘cv::_OutputArray::_OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa46)：对‘cv::_InputArray::_InputArray(cv::Mat const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa7c)：对‘cv::OutputArray::OutputArray(cv::Mat&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xa92)：对‘cv::InputArray::InputArray(cv::Mat const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0xb24)：对‘cv::CascadeClassifier::detectMultiScale(cv::Mat const&, std::vector<cv::Rect, std::allocator<cv::Rect > >&, double, int, int, cv::Size, cv::Size)’未定义的引用
CMakeFiles/wpb_home_face_detect_3d.dir/src/wpb_home_face_detect_3d.cpp.o：在函数‘main’中：
wpb_home_face_detect_3d.cpp:(.text+0x1aa5)：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0x1f31)：对‘cv::CascadeClassifier::load(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
wpb_home_face_detect_3d.cpp:(.text+0x260d)：对‘cv::destroyWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
collect2: error: ld returned 1 exit status
wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/build.make:354: recipe for target '/home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d' failed
make[2]: *** [/home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_face_detect_3d] Error 1
CMakeFiles/Makefile2:8453: recipe for target 'wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/all' failed
make[1]: *** [wpb_home/wpb_home_behaviors/CMakeFiles/wpb_home_face_detect_3d.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 67%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_tutorials/wpb_home_grab_middle
[ 67%] Built target wpb_home_grab_middle
[ 67%] Built target wpb_home_grab_server
[ 67%] Linking CXX executable /home/yog/catkin_ws/devel/lib/wpb_home_behaviors/wpb_home_objects_3d
[ 67%] Built target wpb_home_objects_3d
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

请问，有学习教程吗？

同主题

求帮助，怎么解决这个问题，‘make[2]: *** 没有规则可制作目标“/usr/lib/x86_64-linux-gnu/libblas.so”，由“/home/dell/jiecatkin_ws/devel/lib/libwpr_plugin.so” 需求。停止。’

make[2]: *** 没有规则可制作目标“/usr/lib/x86_64-linux-gnu/libblas.so”，由“/home/dell/jiecatkin_ws/devel/lib/libwpr_plugin.so” 需求。停止。
make[1]: *** [CMakeFiles/Makefile2:18597：wpr_simulation/CMakeFiles/wpr_plugin.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 5%] Built target wpb_home_imu_tf
[ 6%] Built target wpb_home_calibrate_velocity
[ 6%] Built target _xfyun_waterplus_generate_messages_check_deps_IATSwitch
make: *** [Makefile:141：all] 错误 2

找不到Resource not found: wpb_home_tutorials

Resource not found: wpb_home_tutorials

运行程序报以下错误，麻烦帮忙看下

[ERROR] [1628779188.296601720]: Map_server could not open /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml.
process[robot_state_publisher-23]: started with pid [4387]
process[joint_state_publisher-24]: started with pid [4394]
[map_server-20] process has died [pid 4376, exit code 255, cmd /opt/ros/melodic/lib/map_server/map_server /home/passoni/catkin_ws/src/wpr_simulation/maps/map.yaml __name:=map_server __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20.log].
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/map_server-20*.log
process[rviz-25]: started with pid [4399]
[ INFO] [1628779190.178677709]: Requesting the map...
[ WARN] [1628779190.241650328]: Request for map failed; trying again...
[ INFO] [1628779199.670291687]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1628779199.735752950]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1628779200.199552313]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1628779200.241250862]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1628779211.193386359]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ERROR] [1628779212.004623, 266.729000]: Spawn service failed. Exiting.
[ WARN] [1628779212.397909120, 266.730000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 266.73 timeout was 0.1.
[bookshelft-7] process has died [pid 4361, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/passoni/catkin_ws/src/wpr_simulation/models/bookshelft.model -x 2.0 -y -0.55 -z 0 -Y -1.57 -urdf -model bookshelft __name:=bookshelft __log:=/home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7.log].
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/bookshelft-7*.log
[tea_table-6] process has finished cleanly
log file: /home/passoni/.ros/log/22f62fc6-fb7b-11eb-992b-000c298cff20/tea_table-6*.log
[Err] [REST.cc:205] Error in REST request

运行roslaunch wpr_simulation wpb_stage_robocup.launch后无地图显示

在运行roslaunch wpr_simulation wpb_stage_robocup.launch命令后，运行无报错，代码无修改。

Global status:Error,FIx Frame Unknow frame map
添加完机器人模型，机器人为白色，添加LaserScan没有雷达数据，添加Map后，map topic 无订阅话题