export ROS_MASTER_URI=http://ubiquityrobot.local:11311
$ export ROS_HOSTNAME=localhost $ export ROS_MASTER_URI=http://localhost:11311 $ export ROS_HOSTNAME=ubuntu.local $ export ROS_MASTER_URI=http://ubuntu.local:11311
communication between ros subscriber and publisher via ros topic
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Ubuntu install of ROS Melodic: http://wiki.ros.org/melodic/Installation/Ubuntu
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Creating a workspace for catkin: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
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RPLidar ROS Package: https://github.com/robopeak/rplidar_ros
- before running file_name.launch make sure run “source devel/setup.bash” in a same directory .
- Hector SLAM ROS Package: https://github.com/tu-darmstadt-ros-pkg/hector_slam
Install RPLidar node and Hector SLAM cd $HOME/catkin_ws/src git clone https://github.com/Slamtec/rplidar_ros.git git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git Using your favourite editor open Hector SLAM’s launch file which can be found at $HOME/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch and modify the “base_frame”, “odom_frame” and commented out “tf” lines to look like below:
Edit Hector SLAM’s hector_imu_attitude_to_tf/launch/example.launch file which can be found at $HOME/catkin_ws/src/hector_slam/hector_imu_attitude_to_tf/launch/example.launch and change it to consume IMU data from the flight controller (via mavros) by replacing “thumper_imu” with “/mavros/imu/data” so that it looks like below: Edit Hector SLAM’s tutorial.launch file which can be found at $HOME/catkin_ws/src/hector_slam/hector_slam_launch/launch/tutorial.launch and change the “use_sim_time” line to look like below: Continue editing the tutorial.launch and add a new line (just below the existing include line) so that the example.launch file modified above is included: 6. sudo apt-get install qt4-default 7. $me_admin:~$cd catkin_ws $me_admin:~/catkin_ws$ catkin_make 8. roslaunch rplidar_ros rplidar.launch 9.roslaunch hector_slam_launch tutorial.launch 10. http://ardupilot.org/dev/docs/ros-slam.htmlls -l /dev |grep ttyUSB sudo chmod 666 /dev/ttyUSB0 roslaunch rplidar_ros view_rplidar.launch roslaunch rplidar_ros rplidar.launch
gedit .bashrc source .bashrc export ROS_MASTER_URI=http://ubiquityrobot.local:11311/ export ROS_IP=192.168.0.108
$$$$ https://husarion.com/tutorials/ros-tutorials/1-ros-introduction/ https://husarion.com/tutorials/ros-tutorials/9-map-navigation/
@@@@@@@@@@@@@@ https://www.theconstructsim.com/ros-projects-exploring-ros-using-2-wheeled-robot-part-1/ https://bitbucket.org/theconstructcore/two-wheeled-robot-motion-planning/src/master/scripts/ https://bitbucket.org/theconstructcore/two-wheeled-robot-simulation/src/master/
@##@## https://husarion.com/tutorials/ros-tutorials/9-map-navigation/ https://github.com/husarion/tutorial_pkg https://answers.ros.org/question/199818/problems-about-gmapping-under-the-environment-roshydroturtlebot2rplidar/ http://geduino.blogspot.com/2015/04/gmapping-and-rplidar.html https://github.com/geduino-foundation/rplidar_ros https://husarion.com/tutorials/ros-projects/security-guard-robot/
IMU https://atadiat.com/en/e-ros-imu-and-arduino-how-to-send-to-ros/ https://topic.alibabacloud.com/a/application-of-mpu6050-in-ros_8_8_10276014.html