# wpr_simulation

**Repository Path**: wetopilj/wpr_simulation

## Basic Information

- **Project Name**: wpr_simulation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-08-29
- **Last Updated**: 2024-08-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# WPR系列机器人仿真工具

## 系统版本

- ROS Kinetic (Ubuntu 16.04)
- ROS Melodic (Ubuntu 18.04)


## 使用说明

### 一、 启智ROS机器人
1. 获取源码:
```
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpb_home.git
```
2. 安装依赖项:  
ROS Kinetic (Ubuntu 16.04)
```
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_kinetic.sh
```
  ROS Melodic (Ubuntu 18.04)
```
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_melodic.sh
```
3. 编译
```
cd ~/catkin_ws
catkin_make
```

简单场景:
```
roslaunch wpr_simulation wpb_simple.launch
```
![wpb_simple pic](./media/wpb_simple.png)

SLAM环境地图创建:
```
roslaunch wpr_simulation wpb_gmapping.launch
```
![wpb_gmapping pic](./media/wpb_gmapping.png)

Navigation导航:
```
roslaunch wpr_simulation wpb_navigation.launch
```
![wpb_navigation pic](./media/wpb_navigation.png)

物品抓取:
```
roslaunch wpr_simulation wpb_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client
```
![wpb_home_table pic](./media/wpb_home_table.png)

### 二、 启明1服务机器人
1. 获取源码:
```
cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpr_simulation.git
git clone https://github.com/6-robot/wpr1.git
git clone https://github.com/6-robot/waterplus_map_tools.git
git clone https://github.com/6-robot/xfyun_kinetic.git
```
2. 安装依赖项:  
ROS Kinetic (Ubuntu 16.04)
```
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_kinetic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_kinetic.sh
```
  ROS Melodic (Ubuntu 18.04)
```
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts
./install_for_melodic.sh
```
3. 编译
```
cd ~/catkin_ws
catkin_make
```

简单场景:
```
roslaunch wpr_simulation wpr1_simple.launch
```
![wpr1 pic](./media/wpr1_simple.png)

SLAM环境地图创建:
```
roslaunch wpr_simulation wpr1_gmapping.launch
```
![wpr1_gmapping pic](./media/wpr1_gmapping.png)

Navigation导航:
```
roslaunch wpr_simulation wpr1_navigation.launch
```
![wpr1_navigation pic](./media/wpr1_navigation.png)