From 8a5140e8420bb021d920551724a3168fe233dc34 Mon Sep 17 00:00:00 2001 From: doubleTing <835497784@qq.com> Date: Thu, 4 Nov 2021 17:28:15 +0800 Subject: [PATCH] update --- source/version_two/network/keyboard-plugin.md | 87 ++++++++++-------- .../user_guide/quick_start/imgs/intro10.png | Bin 48304 -> 81216 bytes .../user_guide/quick_start/multi_slam_doc.md | 23 ++++- 3 files changed, 66 insertions(+), 44 deletions(-) diff --git a/source/version_two/network/keyboard-plugin.md b/source/version_two/network/keyboard-plugin.md index a70bbac..9defe16 100644 --- a/source/version_two/network/keyboard-plugin.md +++ b/source/version_two/network/keyboard-plugin.md @@ -4,54 +4,31 @@ 在 OS 系统中程序默认识别的是插在车载电脑上的键盘外设,远程主机的键盘命令程序无法接收,键盘控制指令则无法执行。 -为了解决远程连接控制的问题,我们需要安装一个键盘功能包,获取远程主机键盘的按键指令,将控制命令发送到车载主机上。 +为了解决远程连接控制的问题,我们为用户提供了键盘包,可获取远程主机键盘的按键指令,将控制命令发送到车载主机上。 -## rviz_keyboard_plugin - - -### 描述: +### 功能描述: 该功能包为Autolabor 机器人远程连接时,提供用户端主机键盘控制功能。 + +## 适用系统版本 + +AutolaborOS-2.2.1及以上 + +注:如是2.2.1以下的版本需要手动下载安装该功能包,安装教程见本文最末。 + +OS系统->设置->详细信息可查看系统版本号,如无版本号则为2.2.1以下版本。 + + ### 要求: -* 必须基于 Autolabor OS 使用 -* 该插件与键盘鼠标不能同时使用,使用时需拔掉插在电脑上的键盘设备 - -### 一、下载与编译 +该插件与键盘鼠标不能同时使用,使用时需拔掉插在电脑上的键盘设备 -#### 1. 下载程序包 +### 一、配置 -进入 /home/autolabor/catkin_ws/src 目录,执行 - -``` -git clone https://github.com/autolaborcenter/rviz_keyboard_plugin.git -``` - -或访问 https://github.com/autolaborcenter/rviz_keyboard_plugin.git 下载源代码,放入 /home/autolabor/catkin_ws/src 目录中 - -给新加入的文件添加操作权限,在/home/autolabor/catkin_ws 目录下,右键打开终端,执行 - -`sudo chmod -R 777 /home/autolabor/catkin_ws/src/` - -输入密码 `autolabor`,回车 - -#### 2. 编译 - -还是在 /home/autolabor/catkin_ws 目录下,终端执行 - -`sudo rm -rf build/ devel/ logs/ .catkin_tools/` - -输入密码 `autolabor`,回车,然后执行 - -`catkin build -j2` - - -### 二、安装 - -以**SLAM建图**为例,演示该插件的安装方法。 +以**SLAM建图**为例,演示该插件的配置方法。 #### 1. 远程连接 @@ -83,7 +60,7 @@ RViz 的左上角依次点击 Panels -> Add New Panel -> rviz_keyboard_twist -> **做完以上操作后 Ctrl + S 保存 RViz 配置,如忘记保存,则下次进来要重复操作。** -### 三、使用 +### 二、使用 #### 1. 激活键盘控制 @@ -109,6 +86,38 @@ RViz 的左上角依次点击 Panels -> Add New Panel -> rviz_keyboard_twist -> 3. 键盘控制使用完毕后,必须要取消键盘控制。 +### 附录:安装方法 + +#### 适用系统 + +AutolaborOS2.2.1 以下系统用户 + + +#### 1. 下载程序包 + +进入 /home/autolabor/catkin_ws/src 目录,执行 + +``` +git clone https://github.com/autolaborcenter/rviz_keyboard_plugin.git +``` + +或访问 https://github.com/autolaborcenter/rviz_keyboard_plugin.git 下载源代码,放入 /home/autolabor/catkin_ws/src 目录中 + +给新加入的文件添加操作权限,在/home/autolabor/catkin_ws 目录下,右键打开终端,执行 + +`sudo chmod -R 777 /home/autolabor/catkin_ws/src/` + +输入密码 `autolabor`,回车 + +#### 2. 编译 + +还是在 /home/autolabor/catkin_ws 目录下,终端执行 + +`sudo rm -rf build/ devel/ logs/ .catkin_tools/` + +输入密码 `autolabor`,回车,然后执行 + +`catkin build -j2` diff --git a/source/version_two/user_guide/quick_start/imgs/intro10.png b/source/version_two/user_guide/quick_start/imgs/intro10.png index 1b1e6de7283b9877c9d701fb453990bc93a1b064..cda0d817216841c3dd6d2b462af10b1be3f03517 100644 GIT binary patch literal 81216 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zDBV**lMan1A9uLvT0rICYKPRbBlYce0kBT!DeA%tPXnL_hb6}|SgpJcF0D?ue_V?|e~BC&5A5ojfDPgbZW7p}3Gf&J6f@XYUf^V^8t! z9|!KUsW55p!!L}Ppi8&G*@s#JNysiCe2`$|O>~BH)jNGWyCmzhNr@lC^vp`nldQ$E z3&L0H4r1ed{LEMU%)?A2l7-*AEO?xRxNXx#4kOoL2X{D#&ipL5yrd=Wpe7zix{42~ zuprSB&8x6szF(tJ7%^l_bVC>;eEIUG^<6$1fxvBk#glA93mnlD#t3C@qLw#f=6(uUa7zF-5oWAdd New Panel-> Tool Property ##### 新增 marker (目标点标记) -注:仅AutolaborOS-2.2.1以下版本需进行此操作 - RViz 左侧 Display -> add -> Marker @@ -95,14 +93,16 @@ RViz 左侧 Display -> add -> Marker ② 是否循环:若勾选,导航至最后一个目标点后,将重新导航至第一个目标点。例:1->2->3->1->2->3->···,该选项必须在开始导航前勾选 -③ 任务目标点列表: x/y/yaw,地图上给定目标点的位姿(xy坐标与航向角yaw)。 +③ 添加机器人当前位置:控制机器人运动到目标点,点击该按钮,记录当前位置坐标 + +④ 任务目标点列表: x/y/yaw,地图上给定目标点的位姿(xy坐标与航向角yaw)。 * 设置完目标最大数量,保存后,该列表会生成对应数量的条目 * 每给出一个目标点,此处会读取到目标点的坐标与朝向 -④ 重置:将清空当前所有目标点 +⑤ 重置:将清空当前所有目标点 -⑤ 取消:取消当前目标点导航任务,机器人停止运动。再次点击开始导航后,会从下一个任务点开始。 +⑥ 取消:取消当前目标点导航任务,机器人停止运动。再次点击开始导航后,会从下一个任务点开始。 例:1->2->3,在1->2的过程中点击取消,机器人停止运动,点击开始导航后,机器人将从当前坐标点去往3。 @@ -123,12 +123,21 @@ RViz 左侧 Display -> add -> Marker ##### 2) 设置目标点 + +方法一: + +控制机器人运动到目标点,点击【添加机器人当前位置】,该坐标被记录下来 + +方法二: + 点击ToolBar上的2D Nav Goal,在地图上给定目标点。(每次设置都需要先点击2D Nav Goal) 目标点有朝向区分,箭头顶端为车头方向。 ![](imgs/intro11.png) + + ##### 3) 点击开始导航,导航开始 ![](imgs/intro12.png) @@ -148,6 +157,10 @@ RViz 左侧 Display -> add -> Marker ![](imgs/intro15.png) +### 保存坐标点 + +已知在该环境地图中已经设置好了若干任务点,ctrl+s 保存 Rviz ,则该任务会被保存在 Rviz 配置文件中,下次打开后会从配置文件中自动读取。 + ***