Install ROS-melodic full desktop
# 18.04 ros
sudo apt install curl -y
sudo sh -c 'echo "deb <https://packages.ros.org/ros/ubuntu> $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s <https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc> | sudo apt-key add -
sudo apt-get update && sudo apt-get install dpkg
sudo apt-get install ros-melodic-desktop-full -y
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python3-rosdep -y
sudo rosdep init
rosdep updateInstall the grid_map package that can be optionally used for mapping
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sudo apt-get install ros-melodic-grid-map -yInstall ROS-Indigo move base package
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sudo apt-get install ros-melodic-navigation -y下载Gazebo模型：
mkdir -p ~/.gazebo/models
cd ~/.gazebo/models/
wget <https://file.ncnynl.com/ros/gazebo_models.txt>
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf克隆项目：
cd $HUSKY_DIR
git clone https://github.com/LogicT5/Husky_Simulation.git src修改完成后编译测试：
# 检查安装需要的包
cd $HUSKY_DIR
rosdep install --from-path src --ignore-src --rosdistro=melodic -y
# 编译工作空间
catkin_make -DCMAKE_BUILD_TYPE=Release
echo "source $HUSKY_DIR/devel/setup.bash" >> ~/.bashrc
echo "export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xac" >> ~/.bashrc
source ~/.bashrclaunches customized husky gazebo (gazebo).
roslaunch husky_gazebo husky_playpen.launch注意Husky模型是否完整。
launches customized husky visualization (rviz).
roslaunch husky_viz view_robot.launchLOAM can be used to SLAM (mapping and location robot) as follow(gp-insac algorithm is launched parallelly, which is to devide ground, obstacle and boundary points):
roslaunch loam_velodyne loam_velodyne.launchReal-time reconstruction of a single frame
roslaunch frame_reconstruction reconstruction.launchFor mapping with topological and geometrical information. It should be noted that this node has a countdown of ten seconds. If it still have not received the data from LOAM node after the countdown, it will be automatically terminated.
roslaunch topo_confidence_map mapping.launchTo automatically send the goal of mapping results to husky moving action
roslaunch husky_navigation_goals send_goal.launch