首页 > 代码库 > 安装arbotix simulator仿真环境（）
安装arbotix simulator仿真环境（）
先安装rbx1功能包：
cd ~/catkin_ws/srcgit clone https://github.com/pirobot/rbx1.gitcd rbx1git checkout indigo-develcd ~/catkin_wscatkin_makesource ~/catkin_ws/devel/setup.bashrospack profile
安装模拟器：
sudo apt-get install ros-indigo-arbotix-*删除早期版本的arbotix堆栈
rospack profile
一切成功后，先启动roscore，然后启动arbotix堆栈
roslaunch rbx1_bringup fake_turtlebot.launch
输出信息：
... logging to /home/cam/.ros/log/0e1bcdfa-7998-11e6-b214-b01041f9588f/roslaunch-cam-Aspire-V3-572G-17338.logChecking log directory for disk usage. This may take awhile.Press Ctrl-C to interruptDone checking log file disk usage. Usage is <1GB.started roslaunch server http://cam-Aspire-V3-572G:46539/SUMMARY========CLEAR PARAMETERS * /arbotix/PARAMETERS * /arbotix/baud: 115200 * /arbotix/controllers/base_controller/Kd: 12 * /arbotix/controllers/base_controller/Ki: 0 * /arbotix/controllers/base_controller/Ko: 50 * /arbotix/controllers/base_controller/Kp: 12 * /arbotix/controllers/base_controller/accel_limit: 1.0 * /arbotix/controllers/base_controller/base_frame_id: base_link * /arbotix/controllers/base_controller/base_width: 0.26 * /arbotix/controllers/base_controller/ticks_meter: 4100 * /arbotix/controllers/base_controller/type: diff_controller * /arbotix/joints/arm_elbow_flex_joint/id: 3 * /arbotix/joints/arm_elbow_flex_joint/invert: True * /arbotix/joints/arm_elbow_flex_joint/max_speed: 100 * /arbotix/joints/arm_elbow_flex_joint/neutral: 512 * /arbotix/joints/arm_shoulder_lift_joint/id: 2 * /arbotix/joints/arm_shoulder_lift_joint/invert: True * /arbotix/joints/arm_shoulder_lift_joint/max_speed: 100 * /arbotix/joints/arm_shoulder_lift_joint/neutral: 512 * /arbotix/joints/arm_shoulder_pan_joint/id: 1 * /arbotix/joints/arm_shoulder_pan_joint/invert: False * /arbotix/joints/arm_shoulder_pan_joint/max_angle: 145 * /arbotix/joints/arm_shoulder_pan_joint/max_speed: 100 * /arbotix/joints/arm_shoulder_pan_joint/min_angle: -145 * /arbotix/joints/arm_shoulder_pan_joint/neutral: 512 * /arbotix/joints/arm_wrist_flex_joint/id: 4 * /arbotix/joints/arm_wrist_flex_joint/invert: True * /arbotix/joints/arm_wrist_flex_joint/max_angle: 90 * /arbotix/joints/arm_wrist_flex_joint/max_speed: 100 * /arbotix/joints/arm_wrist_flex_joint/min_angle: -90 * /arbotix/joints/arm_wrist_flex_joint/neutral: 512 * /arbotix/joints/gripper_joint/id: 5 * /arbotix/joints/gripper_joint/invert: False * /arbotix/joints/gripper_joint/max_angle: 25 * /arbotix/joints/gripper_joint/max_speed: 100 * /arbotix/joints/gripper_joint/min_angle: -20 * /arbotix/joints/gripper_joint/neutral: 512 * /arbotix/joints/head_pan_joint/id: 6 * /arbotix/joints/head_pan_joint/invert: False * /arbotix/joints/head_pan_joint/max_angle: 145 * /arbotix/joints/head_pan_joint/max_speed: 100 * /arbotix/joints/head_pan_joint/min_angle: -145 * /arbotix/joints/head_pan_joint/neutral: 512 * /arbotix/joints/head_tilt_joint/id: 7 * /arbotix/joints/head_tilt_joint/invert: False * /arbotix/joints/head_tilt_joint/max_angle: 90 * /arbotix/joints/head_tilt_joint/max_speed: 100 * /arbotix/joints/head_tilt_joint/min_angle: -90 * /arbotix/joints/head_tilt_joint/neutral: 512 * /arbotix/port: /dev/ttyUSB0 * /arbotix/rate: 20 * /arbotix/read_rate: 20 * /arbotix/sim: True * /arbotix/sync_read: True * /arbotix/sync_write: True * /arbotix/write_rate: 20 * /robot_description: <?xml version="1.... * /robot_state_publisher/publish_frequency: 20.0 * /rosdistro: indigo * /rosversion: 1.11.20 * /use_sim_time: FalseNODES / arbotix (arbotix_python/arbotix_driver) base_footprint_broadcaster (tf/static_transform_publisher) move_fake_pi_arm_start (rbx1_bringup/move_fake_pi_arm_start.py) robot_state_publisher (robot_state_publisher/state_publisher)ROS_MASTER_URI=http://localhost:11311core service [/rosout] foundprocess[arbotix-1]: started with pid [17360]process[move_fake_pi_arm_start-2]: started with pid [17361]process[robot_state_publisher-3]: started with pid [17362]process[base_footprint_broadcaster-4]: started with pid [17367]
使用一个模型的pi机器人，运行命令：
rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz
发布消息，测试模拟，使模拟机器人顺时针旋转：
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist ‘{linear: {x: 0, y: 0.2, z: 0}, angular: {x: 0, y: 0, z: 0.5}}‘
需要停止机器人 ，在同一个终端窗口式Ctrl-C，或者发布空Twist message：
rostopic pub -1 /cmd_vel geometry_msgs/Twist ‘{}‘
安装arbotix simulator仿真环境（）
声明：以上内容来自用户投稿及互联网公开渠道收集整理发布，本网站不拥有所有权，未作人工编辑处理，也不承担相关法律责任，若内容有误或涉及侵权可进行投诉： 投诉/举报 工作人员会在5个工作日内联系你，一经查实，本站将立刻删除涉嫌侵权内容。