Article Directory
Preparation before operation
Ubuntu host operation
- Connect to Raspberry Pi remotely
ssh 10.42.0.1
You can set the robot to automatically connect to WIFI after it is connected. Refer to the specific setting method: Raspberry Pi 4B-Raspbian network basic configuration: WIFI power on and direct connection, set static IP
- If you change the Raspberry Pi WIFI connection or IP, you need to reset the ROS slave connection IP of the Ubuntu host:
Check if the robot is working properly
- Check whether the topic is normal
rostopic list
- Print some data to check
[list中的任意数据都可以打印]
rostopic echo /imu/data_raw
Run the robot!
Keyboard control
roslaunch hawkbot key_tel.py
SLAM mapping
Synchronize master and slave time
Sync the large time zone first:
sudo ntpdate -u asia.pool.ntp.org
Synchronize the time on the handset:
sudo ntpdate IP
If an error occurs, check whether the ntp service is enabled
service ntp status
If it appears failed, open the ntp service:
service ntp start
Finally, synchronize the time on the handset.
sudo ntpdate hostIP
Open slam mapping
- Start SLAM to create a map, and you can start keyboard control, move the car to create a map.
[建图算法]
roslaunch hawkbot gmapping_slam.launch
- Save map
roscd hawkbot/maps
[地图名称]
rosrun map_server map_saver -f my_room_map
Open the map file to view, no problem:
Navigation function
roslaunch hawkbot navigation.launch
If the calibration is abnormal, connect to the Raspberry Pi remotely and restart the sensor:
sudo hawkbot-stop
sudo hawkbot-start