qingzhou

git clone https://github.com/ShallowDreamKenny/hangtianwuliu.git

安装依赖

sudo apt install ros-melodic-ackermann-steering-controller      
sudo apt-get install ros-(your ros version)-cartographer*     
sudo apt-get install -y` 
`cmake` 
`g++` 
`git` 
`google-mock` 
`libboost-all-dev` 
`libcairo2-dev` 
`libeigen3-dev libgflags-dev` 
`libgoogle-glog-dev` 
`liblua5.2-dev` 
`libsuitesparse-dev` 
`libwebp-dev` 
`ninja-build` 
`protobuf-compiler` 
`python-sphinx`

在~/.bashrc中添加依赖

export PYTHONPATH=$PYTHONPATH:/home/kenny/ROS
export PYTHONPATH=$PYTHONPATH:/home/kenny/ROS/qingzhou
export PYTHONPATH=$PYTHONPATH:/home/kenny/ROS/qingzhou/src
export PYTHONPATH=$PYTHONPATH:/home/kenny/ROS/qingzhou/src/qingzhou_CCP
export PYTHONPATH=$PYTHONPATH:/home/kenny/ROS/qingzhou/src/qingzhou_CCP/yolov7

多车建图

step1:打开轻舟 gazebo 仿真世界,在工作空间下新建终端:

roslaunch qingzhou_gazebo qingzhou_bringup_multi2.launch

step2:启动 Gmapping 建图,在工作空间下新建终端:

roslaunch qingzhou_mapping gmapping_multi.launch

step3:使用 rqt_robot_steering 控制小车移动,在工作空间下新建终端:

rosrun rqt_robot_steering rqt_robot_steering  
rosrun rqt_robot_steering rqt_robot_steering

step4:保存地图,在工作空间下新建终端:

cd ROS/qingzhou/src/qingzhou_mapping/maps/  
rosrun map_server map_saver -f racemap /map:=/qingzhou_1/map  
rosrun map_server map_saver -f racemap /map:=/qingzhou_0/map  

step5: 融合地图节点

cd qingzhou/src/qingzhou_mapping/scripts/concat_img  
python3 merge.py

多车导航

Step1：启动3小车仿真

roslaunch qingzhou_gazebo qingzhou_bringup_multi3.launch

Step2：启动小车导航

roslaunch qingzhou_nav multi_nav_bringup.launch  

Step3：启动目标检测、目标围堵、上位机通信节点

cd qingzhou/src/qingzhou_CCP/scripts/  
python3 detect.py
打开上位机显示程序（须在windows端运行）（src/CSimg/main_ui/main.py）

Step4: 使用全覆盖路径规划搜索目标或手动导航搜索目标

全覆盖路径规划(待完善)

cd qingzhou/src/qingzhou_CCP/src/  
python3 transform_pub.py

手动导航

手动发布节点给各个小车，小车便会在地图内进行导航及巡查工作