turtlebot bringup

rchomeedu_mapping/README.md

@@ -11,6 +11,13 @@
 
 ### Specific instructions for Turtlebot
 
+**Command-line interface**
+
+    cd $CATKIN_WS/src/robot_bringup
+    roslaunch ./start_turtle.launch
+
+    cd $CATKIN_WS/src/robocup_nav_tutorial
+    roslaunch ./map_setup.launch
 
 
 ### Specific instructions for MARRtino

rchomeedu_navigation/README.md

@@ -9,8 +9,23 @@
 * path planner (e.g., move_base)
 
 ### Specific instructions for Turtlebot
-
-
+**Command-line interface**
+```
+  cd ~/catkin/src/robocup_nav_tutorial/launch
+```
+modify the launch file named navigation.launch, change the path with your map path
+
+```
+<arg name="map_file" default="/home/usrname/catkin_ws/src/robocup_nav_tutorial/launch/maps/your_map_name.yaml" /> 
+```
+start your robot
+```
+roslaunch robot_bringup start_turtle.launch
+```
+start navigation
+```
+roslaunch robocup_nav_tutorial navigation_turtle.launch
+```
 
 ### Specific instructions for MARRtino
 

rchomeedu_navigation/launch/navigation_turtle.launch

@@ -0,0 +1,41 @@
+<!--这是获取位置的launch文件-->
+<launch>
+  <!-- 唤醒turtlebot -->
+  <!--include file="$(find turtlebot_bringup)/launch/minimal.launch" /-->
+
+  <!-- 设置摄像头参数 -->
+  <!--include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
+    <arg name="rgb_processing" value="false" />
+    <arg name="depth_registration" value="false" />
+    <arg name="depth_processing" value="false" />
+    <arg name="scan_topic" value="/scan" />
+    <arg name="camera" value="camera" />
+  </include-->
+
+  <!-- 加载地图 -->
+  <arg name="map_file" default="/home/hts/ROS_test/src/nav_test/launch/maps/314.yaml" /> 
+  <node pkg="map_server" type="map_server" name="map_server" args="$(arg map_file)" />
+
+  <!-- 设置amcl-->
+  <arg name="initial_pose_x" default="0.0"/> <!-- 设置初始坐标 -->
+  <arg name="initial_pose_y" default="0.0"/> 
+  <arg name="initial_pose_a" default="0.0"/>
+
+  <include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">
+    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
+    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
+    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
+  </include>
+
+  <!-- 加载move_base -->
+  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
+
+  <!-- 3D visualization -->
+  <include file="$(find turtlebot_rviz_launchers)/launch/view_navigation.launch" />
+  <!-- 
+        手柄操作设置如下
+  -->
+      <!-- 速度平滑 -->
+    <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch" />  
+
+</launch>

rchomeedu_navigation/scripts/save_waypoint.py

@@ -0,0 +1,82 @@
+#!/urs/bin/env python
+# -*- encoding:UTF-8 -*-
+
+import rospy
+from geometry_msgs.msg import PoseWithCovarianceStamped
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+
+class get_point():
+
+    def __init__(self):
+
+        rospy.init_node("save_point")
+        self.point_dataset = []
+        self.point_num = []
+        self.switch=True
+        con = True
+        print 'use keyboard to control your robot'
+        print 'please input point_id if you want to exit please input stop'
+        while con:
+            print 'Get the waypoint : '
+            str = raw_input()
+            if self.switch == True:
+                if str != 'stop':
+                    self.switch = False
+                    self.point_num.append(str)
+                    self.save_waypoint()
+                else:
+                    con=False
+                    self.write2txt()
+            rospy.sleep(2)
+
+
+    def save_waypoint(self):
+
+        rospy.loginfo("save_point")
+        amcl_sub = rospy.Subscriber('/amcl_pose', PoseWithCovarianceStamped, self.amcl_callback)
+
+    def amcl_callback(self, msg):
+
+        my_point = MoveBaseGoal()
+        my_point.target_pose.header.frame_id = '/map'
+        my_point.target_pose.header.seq = msg.header.seq
+        my_point.target_pose.header.stamp = msg.header.stamp
+        my_point.target_pose.pose.position.x = msg.pose.pose.position.x
+        my_point.target_pose.pose.position.y = msg.pose.pose.position.y
+        my_point.target_pose.pose.position.z = msg.pose.pose.position.z
+        my_point.target_pose.pose.orientation.x = msg.pose.pose.orientation.x
+        my_point.target_pose.pose.orientation.y = msg.pose.pose.orientation.y
+        my_point.target_pose.pose.orientation.z = msg.pose.pose.orientation.z
+        my_point.target_pose.pose.orientation.w = msg.pose.pose.orientation.w
+        self.point_dataset.append(my_point)
+        rospy.loginfo("Point saved successfully!")
+        self.switch = True
+
+    def write2txt(self):
+
+        f = open('/home/hts/ROS_test/src/nav_test/src/waypoints.txt','w')
+        for point in range (len(self.point_dataset)):
+            f.write(self.point_num[point])
+            f.write(' ')
+            f.write('position ')
+            f.write('x '+str(self.point_dataset[point].target_pose.pose.position.x)+' ')
+            f.write('y '+str(self.point_dataset[point].target_pose.pose.position.y)+' ')
+            f.write('z '+str(self.point_dataset[point].target_pose.pose.position.z)+' ')
+            f.write('orientation ')
+            f.write('x '+str(self.point_dataset[point].target_pose.pose.orientation.x)+' ')
+            f.write('y '+str(self.point_dataset[point].target_pose.pose.orientation.y)+' ')
+            f.write('z '+str(self.point_dataset[point].target_pose.pose.orientation.z)+' ')
+            f.write('w '+str(self.point_dataset[point].target_pose.pose.orientation.w)+' ')
+            f.write('\n')
+
+
+if __name__ == "__main__":
+
+    try :
+        get_point()
+    except rospy.ROSInterruptException:
+        print "------save_point_error!------"
+
+
+
+