The control of robot
添加镜像源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
添加秘钥
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
更新
sudo apt-get update
安装melodic版本(对应ubuntu18)
sudo apt-get install ros-melodic-desktop-full
安装rosinstall
sudo apt-get install python-rosinstall
初始化rosdep
sudo apt install python3-catkin-pkg
sudo apt install python3-rospkg
sudo apt install python3-rosdep-modules
sudo apt install python3-rosdep
sudo rosdep init
rosdep更新报错
sudo gedit /etc/hosts
最后一行添加
151.101.76.133 http://raw.githubusercontent.com
151.101.84.133 http://raw.githubusercontent.com
185.199.111.133 http://raw.githubusercontent.com
185.199.109.133 http://raw.githubusercontent.com
185.199.110.133 http://raw.githubusercontent.com
185.199.108.133 http://raw.githubusercontent.com
0.0.0.0 http://raw.githubusercontent.com
修改list
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
将全部内容
# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
修改为
# os-specific listings first
yaml file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml file:///etc/ros/rosdistro/master/rosdep/base.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/python.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro file:///etc/ros/rosdistro/master/releases/fuerte.yaml fuerte
直接下载list里需要的文件,复制到/etc/ros目录下
sudo cp -r /home/zjunlict-vision-1/Desktop/dancer_robot/rosdistro /etc/ros
再更新rosdep
sudo apt update
rosdep update
设置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
报错shopt,查看当前shell类型
echo $SHELL
是zsh,设置环境变量
echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
出错找不到文件setup.bash,随便安装个包
sudo apt-get install ros-melodic-turtlesim
gedit ~/.zshrc
source ~/.zshrc
rosdep update
报错找不到distribution.yaml,继续修改list,添加各种yaml文件的地址
yaml file:///etc/ros/rosdistro/master/kinetic/distribution.yaml
yaml file:///etc/ros/rosdistro/master/melodic/distribution.yaml
又报错找不到fuerte.yaml,修改域名
sudo gedit /etc/resolv.conf
在nameserver 127.0.0.53之后添加
nameserver 8.8.8.8 #google域名服务器
nameserver 8.8.4.4 #google域名服务器
还是报错找不到index-v4.yaml,添加各种文件路径,最终得到list如下
# os-specific listings first
yaml file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
# generic
yaml file:///etc/ros/rosdistro/master/rosdep/base.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/python.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/distribution.yaml
yaml file:///etc/ros/rosdistro/master/dashing/distribution.yaml
yaml file:///etc/ros/rosdistro/master/eloquent/distribution.yaml
yaml file:///etc/ros/rosdistro/master/foxy/distribution.yaml
yaml file:///etc/ros/rosdistro/master/kinetic/distribution.yaml
yaml file:///etc/ros/rosdistro/master/melodic/distribution.yaml
yaml file:///etc/ros/rosdistro/master/noetic/distribution.yaml
gbpdistro file:///etc/ros/rosdistro/master/releases/fuerte.yaml fuerte
yaml file:///etc/ros/rosdistro/master/index-v4.yaml
运行rosdep
rosdep update
安装rosinstall
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
如果rosdep还是失败,就把上述过程再执行一遍,反复rosdep update
sudo apt-get install ros-melodic-turtlesim
echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
gedit ~/.zshrc
source ~/.zshrc
sudo apt install python3-catkin-pkg
sudo apt install python3-rospkg
sudo apt install python3-rosdep-modules
sudo apt install python3-rosdep
rosdep update
反反复复终于搞定，跑个小海龟
roscore
rosrun turtlrsim turtlesim_node
rosrun turtlesim turtle_teleop_key
cd ~/catkin_ws/src
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
source ~/catkin_ws/devel/setup.zsh
报错zsh: command not found: catkin_make
原因是/opt/ros/melodic/setup.zsh又不见了
sudo apt-get install ros-melodic-turtlesim
gedit ~/.zshrc
export PATH=/bin:/usr/bin:/usr/local/bin:$PATH
source /opt/ros/melodic/setup.zsh
source ~/.zshrc
报错zsh: command not found: roslaunch
原因不是环境变量，而是安装失败
cd /opt/ros/melodic/bin/
ls
没有看到roscore，重新安装
sudo apt-get install ros-melodic-desktop-full
如果安装了如下库，则roscore就都消失了，所以不要装
sudo apt install python3-catkin-pkg
sudo apt install python3-rospkg
sudo apt install python3-rosdep-modules
sudo apt install python3-rosdep
报错No module named 'defusedxml'，因为指向python3而不是2
ls -al /usr/bin/python
得到lrwxrwxrwx 1 root root 9 12月 16 2019 /usr/bin/python -> python3.6
sudo rm -rf /usr/bin/python
sudo ln -s /usr/bin/python2.7 /usr/bin/python
ls -al /usr/bin/python
得到lrwxrwxrwx 1 root root 18 3月 30 23:31 /usr/bin/python -> /usr/bin/python2.7
运行核心，成功
roscore
运行roslaunch，报错找不到文件，因为路径不在catkin_ws下
gedit ~/.zshrc
添加
source /home/zjunlict-vision-1/Desktop/dancer_robot/dancer_urdf_model/launch
source ~/.zshrc
重启终端
roscd dancer_urdf_model
source /opt/ros/melodic/setup.zsh
source catkin_ws/devel/setup.zsh
在.bashrc中添加source /home/zjunlict/catkin_ws/devel/setup.bash
在.zshrc中添加source /home/zjunlict/catkin_ws/devel/setup.zsh
将dancer_urdf_model/worlds中的car_world.jpg复制进textures中，
笔记本
sudo cp /home/zjunlict/catkin_ws/src/dancer_robot/dancer_urdf_model/worlds/dancer_world.jpg /usr/share/gazebo-9/media/materials/textures
or
主机
sudo cp /home/zjunlict-vision-1/Desktop/dancer_robot/dancer_urdf_model/worlds/dancer_world.jpg /usr/share/gazebo-9/media/materials/textures
将dancer_urdf_model/worlds中的gazebo.material复制进scripts中。
笔记本
sudo cp /home/zjunlict/catkin_ws/src/dancer_robot/dancer_urdf_model/worlds/dancer_world.material /usr/share/gazebo-9/media/materials/scripts
or
主机
sudo cp /home/zjunlict-vision-1/Desktop/dancer_robot/dancer_urdf_model/worlds/dancer_world.material /usr/share/gazebo-9/media/materials/scripts
报错[Err] [REST.cc:205] Error in REST request
sudo gedit ~/.ignition/fuel/config.yaml
将
url : https://api.ignitionfuel.org
改为
url: https://api.ignitionrobotics.org
修改climb参数
笔记本
sudo gedit /home/zjunlict/catkin_ws/src/dancer_robot/dancer-motion/config/parameters/motion_hub_param.yaml
or
主机
sudo gedit /home/zjunlict-vision-1/Desktop/dancer_robot/dancer-motion/config/parameters/motion_hub_param.yaml
修改文件中路径为自己的路径
笔记本
right_kick_files: "/home/ruby/catkin_ws/src/dancer_robot/dancer-motion/config/"
or
主机
right_kick_files: "/home/zjunlict-vision-1/catkin_ws/src/dancer_robot/dancer-motion/config/"
RVIZ查看模型
roslaunch dancer_urdf_model display.launch
gazebo进行仿真
roslaunch dancer_urdf_model gazebo.launch
motion运动控制
roslaunch dmotion main.launch
键盘控制：
'q' # body_head
'w' # body_head2
'a' # arm_left
's' # hand_left
'z' # arm_right
'x' # hand_right
'e' # body_hip_left
'r' # body_hip2_left
'd' # leg_left
'f' # leg2_left
'c' # leg3_left
'v' # leg4_left
't' # body_hip_right
'y' # body_hip2_right
'g' # leg_right
'h' # leg2_right
'b' # leg3_right
'n' # leg4_right
gazebo仿真-蓝天白云
gazebo仿真-绿茵球场
sudo apt-get install ros-melodic-effort-controllers
sudo apt-get install ros-melodic-joint-state-publisher-gui
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-effort-controllers
sudo apt-get install ros-melodic-fake-localization
sudo apt-get install ros-melodic-pr2-controller-manager
killall gzserver
总的思路是步态代码作为一个节点单开，发送内容为舵机值的topic，周期为10ms
步态代码包括climb.cpp, walk.cpp, onefootlanding.cpp, 这些在dancer-motion中
运行步态代码时运行里面的motion_hub.cpp，用来调度所有的动作，目前我们就是爬起接走路
仿真这边代码要修改一下，变成订阅motion的话题得到舵机值作为line_data，后面的计算方法不用变
walk_test.cpp里225行调用步态函数PendulumWalk.cpp
PendulumWalk.cpp里调用单步函数OneFootLanding.cpp