# SeaStar-car

**Repository Path**: huoxingwen/SeaStar-car

## Basic Information

- **Project Name**: SeaStar-car
- **Description**: Navigation stack
- **Primary Language**: Python
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-08-07
- **Last Updated**: 2021-12-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: navigation, ROS, RL

## README

# SeaStar_car
### Description
控制方式：  
1前馈速度控制    
2曲率速度控制    
3模型速度控制   
4三点前馈夹角控制    
5三点前馈夹角RL控制      

    car_gazebo: 模拟器   
    car_sim: 模拟器导航  
    car: 真车导航   
    ls01b_ros: 雷达修改驱动  
    hi226_imu: 只开启yaw轴数据  
    tool: car和car_sim导航常用模块      
    rl: 基于rl的环境交互和rl模块    
    down_PD： 数据采集



### launch
#### 模拟器仿真
    roslaunch car_gazebo car.launch  
    roslaunch car_sim nav.launch    
    roslaunch car_sim rviz.launch    
    rosrun car_sim control.py 
#### 真车
    roslaunch car car.launch 
    roslaunch car nav.launch 
    roslaunch car rviz.launch 
    
### 其他
#### 清空costmap
    rosservice call  /move_base/clear_costmaps 
#### 模型重置
    rostopic pub /gazebo/set_model_state gazebo_msgs/ModelState "model_name: 'car'
    pose:
    position:
        x: 0.0
        y: 0.0
        z: 0.05
    orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    twist:
    linear:
        x: 0.0
        y: 0.0
        z: 0.0
    angular:
        x: 0.0
        y: 0.0
        z: 0.0
    reference_frame: 'ground_plane'" 

#### amcl重置
    rostopic pub  /initialpose geometry_msgs/PoseWithCovarianceStamped "header:
    seq: 0
    stamp:
        secs: 0
        nsecs: 0
    frame_id: ''
    pose:
    pose:
        position: {x: 0.0, y: 0.0, z: 0.0}
        orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
    covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
        0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
        0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" 

#### 速度歸零
    rostopic pub /car/ackermann_control ackermann_msgs/AckermannDriveStamped "header:
    seq: 0
    stamp:
        secs: 0
        nsecs: 0
    frame_id: ''
    drive: {steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 0.0, acceleration: 0.0,
    jerk: 0.0}" 
#### 切换
    -i https://mirror.baidu.com/pypi/simple
    sudo update-alternatives --config gcc
    catkin_make  -DCATKIN_WHITELIST_PACKAGES= "包名"