ROS智能车定位导航仿真

r囧r小猫 2023-02-25 02:22 14阅读 0赞

# 1、环境配置 #

## 进入ROS工作区安装环境 ##

mkdir -p ~/racecar_ws/src
    cd ~/racecar_ws/src
    catkin_init_workspace
    git clone https://github.com/xmy0916/racecar.git
    cd ..
    catkin_make

## 安装成功如下 ##

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2N6czAzMDM_size_16_color_FFFFFF_t_70]

## 安装插件 ##

sudo apt-get install ros-melodic-driver-base
    sudo apt-get install ros-melodic-gazebo-ros-control
    sudo apt-get install ros-melodic-effort-controllers
    sudo apt-get install ros-melodic-joint-state-controller
    sudo apt-get install ros-melodic-ackermann-msgs
    sudo apt-get install ros-melodic-global-planner
    sudo apt-get install ros-melodic-teb-local-planner

## 配置环境变量 ##

echo "source ~/racecar_ws/devel/setup.bash" >> ~/.bashrc
    source ~/.bashrc

# 2、智能车仿真 #

## 开始仿真 ##

**启动导航和环境地图**

roslaunch racecar_gazebo racecar_runway_navigation.launch

**启动rviz**

roslaunch racecar_gazebo racecar_rviz.launc

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2N6czAzMDM_size_16_color_FFFFFF_t_70 1]

## 开始导航 ##

**运行下面的命令，小车就会按照规划好的路径运动**

rosrun racecar_gazebo path_pursuit.py

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2N6czAzMDM_size_16_color_FFFFFF_t_70 2]  
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# 参考资料 #

[智能车竞赛——室外光电创意组仿真之脱缰的野马][Link 1]  
[安装仿真环境][Link 2]  
[智能车导航][Link 3]

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[Link 1]: https://www.guyuehome.com/6463
[Link 2]: https://blog.csdn.net/qq_37668436/article/details/104906619
[Link 3]: https://blog.csdn.net/lxzysx/article/details/107042352