ROS Kinetic, TurtleBot3, Raspicamni Raspberry Pi 4b: 5 qadamga o'rnating

2025 Muallif: John Day | [email protected]. Oxirgi o'zgartirilgan: 2025-01-23 15:14

TurtleBot3 Burger Raspberry Pi 3 B/B+ bilan birga keladi va yangi Raspberry Pi 4b -ni qo'llab -quvvatlamaydi. TurtleBot3 -ni Raspberry Pi 4b -da ishlashi uchun quyidagi amallarni bajaring

• Raspberry Pi 4b Raspbian Buster manbalaridan ROS Kinetic yaratish
• TurtleBot3 uchun maxsus paketlarni qo'shish
• raspicam tugunini qo'shish

1 -qadam: Raspbian -ni o'rnating va Raspberry Pi 4b -ni sozlang

Raspbian rasm yuklab olish. Men 2019–07–10 yilgi Raspbian Buster -dan foydalandim.

Yuklab olingan Raspbian tasvirini SD -kartaga yozing (hajmi kamida 8 Gb). Raspberry Pi 4b -ga displey, klaviatura va sichqonchani ulang, yuklang va WiFi -ga ulaning. SD -kartani to'liq egallash uchun fayl tizimini kengaytiring va ixtiyoriy ravishda SSH va VNC -ni ishga tushiring

sudo raspi-config

2 -qadam: ROS kinetik manbalarini yuklab oling

Quyidagi ko'rsatmalar ROSning rasmiy qo'llanmasida, shuningdek DmitryM8 -da ko'rsatma berilgan.

Raspberry Pi 4b -ga kiring va ROS to'plami omborini qo'shish, asboblarni yaratish va ROSga bog'liqlik vositasini ishga tushirish uchun ushbu buyruqlarni bajaring.

sudo sh -c 'echo "deb https://packages.ros.org/ros/ubuntu $ (lsb_release -sc) main"> /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp: //keyserver.ubuntu.com: 80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update sudo apt-get install -y python-rosdep python-python-rosinstall python-rosinstall build-essential cmake sudo rosdep init rosdep yangilanishi

Manbadan ROS Kinetic yaratish uchun ish joyini yarating.

mkdir ~/ros_catkin_ws

cd ~/ros_catkin_ws

"Ros_comm" paketining manba kodini yuklab oling, u robotning bortli kompyuterida ishlashga mo'ljallangan asosiy modullarni o'z ichiga oladi. Bu erda rosinstall_generator yuklab olish uchun manba kodlari omborlari ro'yxatini tuzadi. wstool keyin manba kodini yuklab olishni davom ettiradi.

rosinstall_generator ros_comm --rosdistro kinetic --deps-faqat nam --tar> kinetik-ros_comm-wet.rosinstall

wstool init -j8 src kinetic-ros_comm-wet.rosinstall rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

TurtleBot3 va raspicam -ni ishga tushirish uchun sizga ros_comm -dan tashqari ushbu ROS -paketlar kerak bo'ladi: common_msgs, rosserial, image_common, image_transport_plugins va diagnostika. Ushbu paketlarni qo'shish uchun ushbu buyruqlarni bajaring.

rosinstall_generator common_msgs common_msgs rosserial image_common image_transport_plugins diagnostikasi nodelet_core --rosdistro kinetik --deps-faqat nam --tar> kinetik-qo'shimcha-nam.rosinstall

wstool merge -t src kinetic -extra -wet.rosinstall wstool update -j8 -t src rosdep install --from -paths src --ignore -src --rosdistro kinetic -y

Vaqt o'tishi bilan qaramlik versiyalari o'zgarganda, "python-rosdistro-modules_0.7.5-1_all.deb (--unpack)" kabi xatolar bo'lishi mumkin: '/usr/lib/python2.7/dist-packages/rosdistro/_init_ python-rosdistro 0.7.2-1 "paketida joylashgan.py '. Ushbu "qayta yozishga urinish" xatolarini hal qiling:

sudo dpkg --remove-forth all python-catkin-pkg python-catkin-pkg-modules python-rosdistro python-rosdistro-modules python-rospkg python-rospkg-modullari

// yoki sudo apt o'chirish sudo apt-tuzatish buzilgan

3 -qadam: ROS kompilyatsiya xatolarini qo'lda tuzatish

Bu vaqtda ROSni yaratish har xil xatolar bilan muvaffaqiyatsiz bo'ladi. Keling, ROS manba kodini qo'lda tahrir qilish orqali xatolarni tuzataylik.

Tahrirlash

/home/pi/ros_catkin_ws/src/opencv3/modules/python/src2/cv2.cpp liniyasi 885

O'zgartirish

char* str = PyString_AsString (obj);

bilan

const char* str = PyString_AsString (obj);

Quyidagi fayllarni tahrirlang.

/home/pi/ros_catkin_ws/src/rospack/include/rospack/rospack.h /home/pi/ros_catkin_ws/src/rospack/src/rospack.cpp /home/pi/ros_catkin_ws/src/rospack/crcack/src/

Ning barcha hodisalarini o'chirib tashlang

/tr1

va barcha hodisalarni almashtiring

std:: tr1

bilan

kuchaytirish

Quyidagi fayllarni tahrirlang.

/home/pi/ros_catkin_ws/src/actionlib/include/actionlib/client/simple_action_client.h /home/pi/ros_catkin_ws/src/actionlib/include/actionlib/destruction_guard.h/home/pi/ros_catkin_ws/srr /actionlib/server/simple_action_server_imp.h /home/pi/ros_catkin_ws/src/actionlib/src/connection_monitor.cpp /home/pi/ros_catkin_ws/src/actionlib/test/destruction_guard_test.cpp_ home/pi/bc/src /bondcpp/src/bond.cpp /home/pi/ros_catkin_ws/src/ros_comm/roscpp/include/ros/timer_manager.h /home/pi/ros_catkin_ws/src/ros/roslib/test/utest.cpp

Ning barcha paydo bo'lishini almashtiring

boost:: posix_time:: millisekundlar […]

bilan

boost:: posix_time:: millisekundlar (int (…))

Quyidagi faylni tahrirlang.

/home/pi/ros_catkin_ws/src/geometry2/tf2/src/buffer_core.cpp

Hammasini almashtiring

logWarn

bilan

CONSOLE_BRIDGE_logOgohlantirish

va

logError

bilan

CONSOLE_BRIDGE_logHato

4 -qadam: ROS Kinetic -ni yarating

Bu vaqtda qurilish muvaffaqiyatli bo'lishi kerak.

cd ~/ros_catkin_ws

sudo./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE = Release --install -space/opt/ros/kinetic

~/. Bashrc ga qo'shing va shuningdek qobig'ingizda bajaring:

manba /opt/ros/kinetic/setup.bash

5 -qadam: TurtleBot3 va Raspicam paketlarini yarating

Bu ko'rsatmalar ROBOTIS qo'llanmasiga mos keladi.

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/catkin_make manba devel/setup.bash

~/. Bashrc -ni tahrir qiling va qo'shing

manba /home/pi/catkin_ws/devel/setup.bash

Endi, ijro eting

cd ~/catkin_ws/src

git klon https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git git klon https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git klon https://github.com/ROBOTIS-GIT/turtlebot3. git git clone https://github.com/UbiquityRobotics/raspicam_node.git cd ~/catkin_ws/src/turtlebot3 rm -r turtlebot3_description/turtlebot3_teleop/turtlebot3_navigation/turtlebot3_slam/turtlebot_camp/catkin_cample

Qurilish muvaffaqiyatli bo'lishi kerak.

TurtleBot3 USB tashqi qurilmalarini tanib olish uchun Raspberry Pi 4b ni sozlang.

rosrun turtlebot3_bringup create_udev_rules

Ifconfig -ni ishga tushiring va Raspbery Pi -ning IP -manzilini yozing.

ifconfig

~/. Bashrc -ni tahrir qiling. Quyidagi qatorlarni qo'shing va ularni qobig'ingizda bajaring.

eksport qilish ROS_MASTER_URI = https://YOUR. ROS. MASTER. IP: 11311

eksport qilish ROS_HOSTNAME = YOUR. RASPBERRY. PI. IP

Raspberry Pi va kompyuter vaqtini sinxronlashtiring:

sudo apt-get install ntpdate

sudo ntpdate ntp.ubuntu.com

Bu vaqtda sizning sozlashingiz yakunlanishi kerak. Endi siz TurtleBot3 -da Raspberry Pi 3/3+ o'rniga Raspberry Pi 4b dan foydalanishingiz mumkin.