TurtleBot3 的 ROS2 运行框架梳理 1 - 底盘和键盘手动控制部分

启动小车
$ ros2 launch turtlebot3_bringup robot.launch.py

运行控制节点
$ ros2 run turtlebot3_teleop teleop_keyboard

运行RVIZ
$ ros2 launch turtlebot3_bringup rviz2.launch.py

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import ThisLaunchFileDir
from launch_ros.actions import Node


def generate_launch_description():
    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']  //Burger： 获取SHELL环境变量的设定，即机器人类型

    usb_port = LaunchConfiguration('usb_port', default='/dev/ttyACM0')

    tb3_param_dir = LaunchConfiguration(
        'tb3_param_dir',
        default=os.path.join(
            get_package_share_directory('turtlebot3_bringup'),
            'param',
            TURTLEBOT3_MODEL + '.yaml'))

    lidar_pkg_dir = LaunchConfiguration(
        'lidar_pkg_dir',
        default=os.path.join(get_package_share_directory('hls_lfcd_lds_driver'), 'launch'))

    use_sim_time = LaunchConfiguration('use_sim_time', default='false')

    return LaunchDescription([
        DeclareLaunchArgument(
           'use_sim_time',
           default_value=use_sim_time,
           description='Use simulation (Gazebo) clock if true'),

        DeclareLaunchArgument(
            'usb_port',
            default_value=usb_port,
            description='Connected USB port with OpenCR'),

        DeclareLaunchArgument(
            'tb3_param_dir',
            default_value=tb3_param_dir,
            description='Full path to turtlebot3 parameter file to load'),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                [ThisLaunchFileDir(), '/turtlebot3_state_publisher.launch.py']),
            launch_arguments={'use_sim_time': use_sim_time}.items(),
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([lidar_pkg_dir, '/hlds_laser.launch.py']),
            launch_arguments={'port': '/dev/ttyUSB0', 'frame_id': 'base_scan'}.items(),
        ),

        Node(
            package='turtlebot3_node',
            node_executable='turtlebot3_ros',
            parameters=[tb3_param_dir],
            arguments=['-i', usb_port],
            output='screen'),
    ])

//主要时报 odom信息同步到底盘中心的base_linkde 坐标系上。
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']

    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'

    print("urdf_file_name : {}".format(urdf_file_name))

    urdf = os.path.join(
        get_package_share_directory('turtlebot3_description'),
        'urdf',
        urdf_file_name)

    return LaunchDescription([
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),

        Node(
            package='robot_state_publisher',
            node_executable='robot_state_publisher',
            node_name='robot_state_publisher',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=[urdf]),
    ])

Teleop就是简单的手动遥控操作的内容了