Turtlebot2i入门教程-命令集

Turtlebot2i入门教程-命令集

说明：

• 介绍涉及的相关命令

启动底盘：

• 命令：

roslaunch kobuki_node minimal.launch --screen

• 参考：http://wiki.ros.org/kobuki/Tutorials/Examine%20Kobuki

启动Arbotix：

roslaunch turtlebot2i_bringup phantomx_pincher_arm.launch

启动RealSense SR300：

roslaunch realsense_camera sr300_nodelet_rgbd.launch

启动RealSense ZR300

roslaunch realsense_camera zr300_nodelet_rgdb.launch

启动Astra Camera：

roslaunch astra_launch astra.launch

TurtleBot 2i Bringup & Demo Launch
启动turtlebot2i和demo：

• 只启动底盘，机械臂和传感器

roslaunch turtlebot2i_bringup turtlebot2i_basic.launch

• 启动全部，底盘，建图，机械臂，moveit和区域检测

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch

launch文件参数:

none - Mapping will resume using last ~/.ros/rtabmap.db
new_rtabmap:=true *Delete rtabmap.db on start
localization:=true *Use rtabmap for localization (existing map)
rviz:=true *Load RViz with launch (local/NUC)
rtabmapviz:=true *Load RTAB-Map GUI with launch

Launch例子:

• 开始新地图:

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch new_rtabmap:=true

• 使用现有地图:

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch

• 使用现有地图只用于定位

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch localization:=true

• 一旦区域标记已被识别，您可以发布区域目标请求：

rostopic pub /zone_destination_request std_msgs/String "charging_zone"
rostopic pub /zone_destination_request std_msgs/String "pickup_zone"
rostopic pub /zone_destination_request std_msgs/String "sorting_zone"

• 启动自动对接

roslaunch kobuki_auto_docking activate.launch

• 再充电桩位置启动块分类演示

roslaunch turtlebot2i_block_manipulation block_sorting_demo.launch at_dock:=true

• 要开始块分类演示（右侧绿色，其他左侧）（排序到预计高度约为77毫米的箱体）：

roslaunch turtlebot2i_block_manipulation block_sorting_demo.launch

• Pincher Arm MoveIt! Demo：

roslaunch turtlebot2i_bringup turtlebot2i_basic.launch
roslaunch turtlebot2i_moveit_config turtlebot_moveit.launch sim:=false

2cm的块对象分类 & 交互操作：

• 在中央视图中找到的块可以按颜色排序（绿色/非绿色）
• 块可以在RViz中单击并移动，并由机器人重新定位，需启动机械臂和moveit：

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch new_rtabmap:=true

• 启动块检测，交互式操作和拾取安放动作服务器：

roslaunch turtlebot2i_block_manipulation block_sorting_demo.launch at_dock:=true/false auto_sort:=false/true

• 机械臂工具检测和标记处理（WIP）
• Note: Expects Expo dry erase marker in 3D printed holder to be in view. Works well on dry erase board with low friction

启动机器人，机械臂和moveit：

roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch new_rtabmap:=true

开始工具检测，拾取和拖放动作服务器

roslaunch turtlebot2i_marker_manipulation marker_demo.launch

Turtlebot2i arm director (action server)：

• turtlebot2i_arm_director使用MoveIt！ 规划界面来定位手臂。
• 这是一个简单的动作服务器示例，可将该臂移动到通常在SRDF中找到的命名姿势

roslaunch turtlebot2i_arm_director demo.launch

rostopic pub /named_pose_director/goal turtlebot_arm_pose_director/NamedPoseDirectorActionGoal '{goal: { named_pose: "pose_parked"}}'

rostopic pub /named_pose_director/goal turtlebot_arm_pose_director/NamedPoseDirectorActionGoal '{goal: { named_pose: "pose_grasping"}}'

Gazebo 仿真：

• http://gazebosim.org/tutorials/?tut=ros_control

Gazebo, arm joint controllers, empty turtlebot2i world:

roslaunch turtlebot2i_gazebo turtlebot_world.launch

Arm Joint Controllers关节控制：

roslaunch turtlebot2i_control turtlebot2i_control.launch

Manually Command Arm命令控制机械臂：

rostopic pub -1 /turtlebot/arm_shoulder_pan_position_controller/command std_msgs/Float64 "data: 0.4"
rostopic pub -1 /turtlebot/arm_elbow_flex_position_controller/command std_msgs/Float64 "data: 1.4"

Robot monitoring and operations management:

rqt
menu [Perspectives] / [Import...] and import /rqt_perspectives/NewTest.perspective

Pincher Arm Stationary MoveIt! Demo：

• 不支持的WIP，固定配置
• 命令：

roslaunch phantomx_pincher_arm_bringup arm.launch
roslaunch phantomx_pincher_arm_moveit_config phantomx_pincher_arm_moveit.launch sim:=false

参考：

• https://github.com/Interbotix/turtlebot2i/wiki/ROS-Commands-CheatSheet