# ros2_patrol_robot_test

**Repository Path**: chugc/ros2_patrol_robot_test

## Basic Information

- **Project Name**: ros2_patrol_robot_test
- **Description**: ros2小鱼案例
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2025-02-08
- **Last Updated**: 2025-05-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

__7.0 自主导航__
当前位置 目标点位置
__7.1 机器人自主导航解释__
里程计 惯性传感器 -> 位置信息  
激光雷达 ->地图信息
路径规划 恢复行为
__7.2.1 构建导航地图__
sudo apt install ros-$ROS_DISTRO-slam-toolbox   
>ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True

>rviz2

> colcon build
> source install/setup.bash
> ros2 launch fishbot_description gazebo_sim.launch.py 

>ros2 run teleop_twist_keyboard teleop_twist_keyboard 
__7.2.2 保存地图文件__
sudo apt install ros-$ROS_DISTRO-nav2-map-server 

ros2 pkg create fishbot_navigation2

>ros2 run nav2_map_server  map_saver_cli -f room   `到maps文件夹下` 得到room.pgm room.yaml
__7.3.1 Navigation2安装以及介绍__
sudo apt install ros-$ROS_DISTRO-navigation2
sudo apt install ros-$ROS_DISTRO-nav2-bringup  实体功能包
__7.3.2 编写launch并启动导航__
cp /opt/ros/foxy/share/nav2_bringup/params/nav2_params.yaml .  `config`
__7.3.3 编写launch并启动导航__
`launch`

> colcon build
> source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py   给一个预估位置
> ros2 launch fishbot_description gazebo_sim.launch.py 

__7.3.4 进行单点与路点导航__
__7.3.5 导航动态避障__

__7.3.6 导航速度及膨胀半价__
controller_server:
inflation_radius
__7.3.7 优化到点精度__
goal_checker
xy_goal_tolerance: 0.25
__7.4.1 用话题初始化机器人位姿__
ros2 node info /amcl
ros2 topic pub /

ros2 topic pub /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "{header:{frame_id: map}}"  --once

ros2 pkg create fishbot_application --build-type ament_python --license Apache-2.0

ros2 run fishbot_application init_robot_pose 

__7.4.2 使用TF获取机器人实时位姿__

__7.4.3 调用接口进行单点导航__
action 
ros2 action list
ros2 action list -t
ros2 interface show nav2_msgs/action/NavigateToPose
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {frame_id: map},pose:{position:{x: 2.0,y: 1.0}}}}" --feedback
`ros2 interface proto`
__7.4.4 使用接口完成多点导航__
ros2 action send_goal /FollowWaypoints nav2_msgs/action/FollowWaypoints

__7.5.1 完成机器人系统架构设计__
ros2 pkg create autopatrol_robot --build-type ament_python --license Apache-2.0

__7.5.2 编写巡检控制节点__
ros2 run autopatrol_robot patrol_node
ros2 param list
ros2 param dump /patrol_node
>setup.py config文件



> ros2 launch fishbot_description gazebo_sim.launch.py 
>ros2 launch fishbot_navigation2 navigation2.launch.py 
>ros2 run autopatrol_robot patrol_node
>ros2 run autopatrol_robot patrol_node --ros-args --params-file /home/chu/code/ros2_1/chapt_7/workspace/install/autopatrol_robot/share/autopatrol_robot/config/patrol_config.yaml
__7.5.3.1 添加语音播报功能1__
ros2 pkg create autopatrol_interfaces  --dependencies rosidl_default_generators `--license Apache-2.0` <-这个不能要
>srv
>cmake
>package.xml
__7.5.3.2 添加语音播报功能2__
ros2 run autopatrol_robot speaker
source install/setup.bash
ros2 service list -t
ros2 service call /speech_text autopatrol_interfaces/srv/SpeachText "{text: 你好}"
__7.5.3.3 添加语音播报功能3__
>launch


> ros2 launch fishbot_description gazebo_sim.launch.py 
>ros2 launch fishbot_navigation2 navigation2.launch.py 
> ros2 launch 

__7.5.4 订阅图像并记录__
__7.6.1 添加自描述文件__
- git init
- git add .
```python
git status
git commit -m "feat:初始化提交,完成巡检机器人基本功能"
git config --global user.name chu
git config --global user.email "cgc2399433028@gmail.com"
git config --global user.password "xxxxx密码"
```

查看用户名 ：git config user.name

查看密码： git config user.password

查看邮箱：git config user.email

使用 git config --list 查看已设配置
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__7.6.2 托管到Gitee__
__7.6.3 托管到Github__