Ubuntu14.04-KinectV1-4WD-RTABMap

环境：Ubuntu14.04（64位）+KinectV1+四轮差速驱动小车     注:以下步骤在小车上位机上进行、不适用于KinectV2

目录

•   安装ROS
• 安装KinectV1驱动
• 伪造激光数据
  • 创建ROS工作空间
  • 编译depthimage_to_laserscan
• 合并Kinect启动文件
• 安装RTAB-Map
• ROS与底层通信
• 导航
• 远程操控
  • 在小车上位机上
  • 在远程操控机器上
• 相关资料
•   TODO

安装ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall

参考:http://wiki.ros.org/indigo/Installation/Ubuntu

安装KinectV1驱动

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*

测试:

roslaunch freenect_launch freenect.launch depth_registration:=true

参考:http://www.ncnynl.com/archives/201609/794.html

伪造激光数据

创建ROS工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd .. && catkin_make
echo "source ~/catkin_ws/src/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

参考:http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

编译depthimage_to_laserscan

cd ~/catkin_ws/src
git clone https://github.com/ros-perception/depthimage_to_laserscan
cd .. && catkin_make

参考:http://wiki.ros.org/depthimage_to_laserscan

合并Kinect启动文件

sudo apt-get install nano
mkdir ~/launch && cd ~/launch
nano scan.launch

<launch>
  <!-- Kinect cloud to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
      <remap from="image"     to="/camera/depth_registered/image_raw"/>
      <remap from="camera_info" to="/camera/depth_registered/camera_info"/>
      <remap from="scan" to="/scan"/>
      <param name="range_max" type="double" value="4"/>
    </node>
    <include file="$(find freenect_launch)/launch/freenect.launch">
       <arg name="depth_registration"         value="true"/>
    </include>
</launch>

测试:

roslaunch ~/launch/scan.launch

安装RTAB-Map

sudo apt-get install ros-indigo-rtabmap-*
roscd rtabmap_ros/launch
sudo nano rgbd_mapping.launch

32   <arg name="subscribe_scan"          default="false"/>

改为

32   <arg name="subscribe_scan"          default="true"/>

测试:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false

注:需要在启动kinect的前提下才能使用

ROS与底层通信

注：假设下位机已经烧录好程序

cd ~/catkin_ws/src
git clone https://github.com/grassjelly/linorobot_4wd.git
git clone https://github.com/grassjelly/lino_pid.git
git clone https://github.com/grassjelly/lino_msgs.git
git clone https://github.com/hbrobotics/ros_arduino_bridge
cd .. && catkin_make
cd ~/launch
nano arduino.launch

<node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
    <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
</node>

roscd ros_arduino_python/config
sudo cp arduino_params.yaml my_arduino_params.yaml
sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch

用键盘测试:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

调参:
arduino_params.yaml是基础的参数配置文件，如轮胎直径、轮胎间距等
参考:https://linorobot.org

导航

roslaunch linorobot_4wd navigate.launch

调参:

cd ~/catkin_ws/src/linorobot_4wd/param && ls

里面的五个文件都是导航相关的配置文件，参数说明可参考:
http://www.cnblogs.com/zjiaxing/p/5559382.html
http://wiki.ros.org/navigation/Tutorials/RobotSetup

远程操控

在小车上位机上

ifconfig查看小车上位机(NUCi7)ip地址，假设为10.18.241.138
在每个终端需要

export ROS_IP=10.18.241.138&&export ROS_MASTER_URI=http://10.18.241.138:11311/

终端1:roslaunch ~/launch/scan.launch
终端2:sudo chmod 777 /dev/ttyUSB0
roslaunch ~/launch/arduino.launch
终端3:roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=false
终端4:roslaunch linorobot_4wd navigate.launch

在远程操控机器上

先进行第一步安装ROS，然后安装rviz

sudo apt-get install ros-indigo-rviz-*

ifconfig查看本机ip地址，假设为10.18.228.187
在每个终端需要

export ROS_IP=10.18.228.187 && export ROS_MASTER_URI=http://10.18.241.138:11311/

终端1:rosrun rviz rviz

接下来在rviz订阅相关话题就可以了

相关资料

• ROS入门正确姿势
• ROS官网rviz介绍
• ROS官网rtabmap_ros介绍
• RTAB-Map官网介绍
• RTAB-Map原理中文解析
• rtabmap_ros+KinectV1使用
• ROS官网Navigation介绍
• Navigation解析
• linorobot介绍
• 搭建ROS小车底盘A
• 搭建ROS小车底盘B
• 小车校准
• ROS与SLAM教程
• ROS与深度摄像头教程
• Turtlebot入门教程
• SLAM相关汇总
• OpenSLAM

TODO

• 初步构建文档
• 设定TF转换关系
• KinectV1->KinectV2
• NUCi7
• 4WD->Mecanum
• 二维+三维显示
• 里程计融合
• 看各文件源码

PS:由于我只是单凭回忆记录的，并不是边实验边记录，所以可能有所纰漏。