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ros2_car's Introduction

注意当前分支代码为humble版本，如需foxy版本请在左上角切换分支

基于ROS2实现的Fishbot机器人

微信图片_20220908133932

此代码包含仿真及真机两部分，humble分支为仿真部分代码，使用方法见：https://fishros.com/d2lros2/

1.介绍

2.安装运行

2.1 下载编译

git clone --recursive https://github.com/fishros/fishbot.git -b humble
cd fishbot
rosdep install --from-paths src -y
colcon build

2.2 运行测试

在RVIZ中显示机器人模型

source install/setup.bash
ros2 launch fishbot_description display_rviz2.launch.py

仿真

source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py

建图

source install/setup.bash
ros2 launch fishbot_cartographer cartographer.launch.py

Nav2

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:=True

作者

欢迎大家关注公众号鱼香ROS,加入技术交流群

错误

None of the required 'cairo>=1.12.16' found

解决方法

export PKG_CONFIG_PATH="/usr/share/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig:/usr/lib/x86_64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH"

ros2_car's People

Contributors

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Watchers

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