mini ros

2024-02-04 23:53:16

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wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ rostopic list
/PowerVoltage
/amcl_pose
/cmd_vel
/joint_states
/mobile_base/sensors/imu_data
/nodelet_manager/bond
/odom
/odom_combined
/pose
/robot_cmd_vel
/robot_pose_ekf/odom_combined
/rosout
/rosout_agg
/scan
/smoother_cmd_vel
/tf
/tf_static
/velocity_smoother/parameter_descriptions
/velocity_smoother/parameter_updates
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$

wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ roslaunch  turn_on_wheeltec_robot  turn_on_wheeltec_robot.launch
... logging to /home/wheeltec/.ros/log/8d6308f4-0a02-11eb-aae9-dca632c35b35/roslaunch-wheeltec-7078.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.100:45831/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: True
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/sensor_timeout: 2.0
 * /robot_pose_ekf/vo_used: False
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/serial_baudrate: 115200
 * /rplidarNode/serial_port: /dev/rplidar_laser
 * /velocity_smoother/accel_lim_v: 0.1
 * /velocity_smoother/accel_lim_w: 0.2
 * /velocity_smoother/decel_factor: 1.0
 * /velocity_smoother/frequency: 20.0
 * /velocity_smoother/robot_feedback: 0
 * /velocity_smoother/speed_lim_v: 0.2
 * /velocity_smoother/speed_lim_w: 0.4
 * /wheeltec_robot/product_number: 0
 * /wheeltec_robot/robot_frame_id: base_footprint
 * /wheeltec_robot/serial_baud_rate: 115200
 * /wheeltec_robot/smoother_cmd_vel: smoother_cmd_vel
 * /wheeltec_robot/usart_port_name: /dev/wheeltec_con...

NODES
  /
    base_to_camera (tf/static_transform_publisher)
    base_to_gyro (tf/static_transform_publisher)
    base_to_laser (tf/static_transform_publisher)
    base_to_link (tf/static_transform_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    nodelet_manager (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rplidarNode (rplidar_ros/rplidarNode)
    velocity_smoother (nodelet/nodelet)
    wheeltec_robot (turn_on_wheeltec_robot/wheeltec_robot_node)

auto-starting new master
process[master]: started with pid [7105]
ROS_MASTER_URI=http://192.168.0.100:11311

setting /run_id to 8d6308f4-0a02-11eb-aae9-dca632c35b35
process[rosout-1]: started with pid [7123]
started core service [/rosout]
process[base_to_link-2]: started with pid [7126]
process[base_to_gyro-3]: started with pid [7127]
process[base_to_laser-4]: started with pid [7129]
process[base_to_camera-5]: started with pid [7131]
process[rplidarNode-6]: started with pid [7132]
process[wheeltec_robot-7]: started with pid [7133]
process[robot_pose_ekf-8]: started with pid [7144]
[ INFO] [1602229169.912335639]: wheeltec_robot node has turned on 
process[joint_state_publisher-9]: started with pid [7163]
process[robot_state_publisher-10]: started with pid [7169]
[ INFO] [1602229169.996076694]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
process[nodelet_manager-11]: started with pid [7175]
process[velocity_smoother-12]: started with pid [7177]
[ INFO] [1602229170.096424454]: Data ready
[ INFO] [1602229170.112265176]: wheeltec_robot serial port opened
[ INFO] [1602229170.173004305]: output frame: odom_combined
[ INFO] [1602229170.185181824]: base frame: base_footprint
[ INFO] [1602229170.482553805]: Initializing Odom sensor
[ INFO] [1602229170.482949379]: Initializing Imu sensor
[ INFO] [1602229170.532242694]: Odom sensor activated
[ INFO] [1602229170.532496268]: Imu sensor activated
[ INFO] [1602229170.552858639]: Kalman filter initialized with odom measurement
RPLIDAR S/N: CE999A87C5E392D3A5E49EF05E4C3D65
[ INFO] [1602229172.520438619]: Firmware Ver: 1.25
[ INFO] [1602229172.520609878]: Hardware Rev: 5
[ INFO] [1602229172.522254156]: RPLidar health status : 0
[ INFO] [1602229173.071938841]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
[ INFO] [1602230077.819120376]: Odom sensor not active any more
[ INFO] [1602230077.819310524]: Imu sensor not active any more
[ INFO] [1602230078.867843782]: Initializing Odom sensor
[ INFO] [1602230078.868236301]: Initializing Imu sensor
[ INFO] [1602230078.917807412]: Odom sensor activated
[ INFO] [1602230078.918225338]: Imu sensor activated
[ INFO] [1602230539.185398119]: New control command
[ INFO] [1602230566.636394899]: New control command
[ INFO] [1602230586.887252072]: New control command

发送命令，启动小车

wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ rostopic pub /smoother_cmd_vel geometry_msgs/Twist "linear:                                     
  x: 0.5
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message. Press ctrl-C to terminate
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$ 
wheeltec@wheeltec:~$

发送命令，停止运行

wheeltec@wheeltec:~$ rostopic pub /smoother_cmd_vel geometry_msgs/Twist "linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message. Press ctrl-C to terminate

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