待整理文档

待完善

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rviz 可视化

roslaunch dashgo_description dashgo_description.launch

在远程电脑上

export ROS_MASTER_URI=http://xxx:11311rviz

move_base

在空白地图上测试走四方形

roslaunch dashgo_bringup minimal.launchroslaunch dashgo_nav move_base_blank_map.launchrosrun dashgo_bringup move_base_square.py 或rosrun dashgo_bringup teb_move_base_square.py 

建图的测试环境：

DashD1底盘+rplidar激光雷达

安装环境

安装ROS包

cd ~/dashgo_ws/srcgit clone https://github.com/robopeak/rplidar_ros.gitgit clone https://github.com/ros-perception/slam_gmappinggit clone https://github.com/ros-perception/openslam_gmappinggit clone https://github.com/EAIBOT/dashgo.gitcd dashgogit checkout slam_01cd ~/dashgo_wscatkin_make

运行

roslaunch dashgo_bringup  bringup_gmaping.launchroslaunch dashgo_nav gmapping_demo.launchexport ROS_MASTER_URI=http://192.168.99.xx:11311rviz

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带避障功能的导航

roslaunch dashgo_bringup  bringup_gmaping.launchroslaunch dashgo_nav  move_base_obstacle.launch在远程PCexport ROS_MASTER_URI=http://192.168.99.xx:11311rviz