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1、安裝map_server sudo apt-get install ros-indigo-navigation 2、sanbot_pkg sudo dpkg -i sanbot-env-1.0.0.0-20170626.deb 3、sanbao_key sudo dpkg -i sanbao-keyboard-1.0.3.0-20170817.deb 修改參數(shù)：/sanbot_pkg/share/sanbao_keyboard/param/sanbao_keyboard.yaml 筆記本密碼、 keyboard event事件在/proc/bus/input/devices查看event號(hào) 4、sanbot_navigation sudo dpkg -i sanbot-navigation-1.0.4.0-20170808.deb 5、catogragh sudo dpkg -i cartographer_1.0.1-0_trusty_amd64.deb 依賴包 sudo apt-get install libgflags-dev libgoogle-glog-dev sudo apt-get install libspqr1.3.1 sudo apt-get install libatlas3-base /opt/ros/indigo/share/cartographer_turtlebot/configuration_file/astra_camera_2d.lau 將gyro_link改成base_link 6、sanbot_print、sanbot_test sudo dpkg -i sanbot-app-1.0.4.8-20170817.deb 7、qh_SLAM 建圖、導(dǎo)航啟動(dòng)關(guān)閉腳本，定點(diǎn)導(dǎo)航auto_navi,python界面控制ros_debug_list.py，停止機(jī)器人stopRobot.sh 注：（1）需要sudo chmod -R 777 qh_SLAM給可執(zhí)行權(quán)限 （2）筆記本的ntpserver可不用關(guān)閉，用王尊欽的python界面程序ros_debug_list.py讓筆記本獲取x86時(shí)間進(jìn)行校時(shí)之前會(huì)kill掉ntpserver進(jìn)程。 |
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