机器人 光伏机器人控制系统

# WPR系列机器人仿真工具 ## 配套视频课程  Bilibili: [机器人操作系统ROS 快速入门教程](https://www.bilibili.com/video/BV1BP4y1o7pw/) Youtube: [机器人操作系统ROS 快速入门教程](https://www.youtube.com/watch?v=Zs3ic0Im4D8&list=PLu0hA5NOMC0lZDGBkXwTb5NGUapAeUPPp) ## 配套教材书籍 1、机器人操作系统(ROS)及仿真应用（C++）  2、轮式智能移动操作机器人技术与应用（Python）  ## 系统版本 - ROS Noetic (Ubuntu 20.04) ## 使用说明 ### 一、 启智ROS机器人 1. 获取源码: ``` cd ~/catkin_ws/src/ git clone https://github.com/6-robot/wpr_simulation.git git clone https://github.com/6-robot/wpb_home.git git clone https://github.com/6-robot/waterplus_map_tools.git ``` 2. 安装依赖项: ROS Noetic (Ubuntu 20.04) ``` cd ~/catkin_ws/src/wpr_simulation/scripts ./install_for_noetic.sh cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts ./install_for_noetic.sh cd ~/catkin_ws/src/waterplus_map_tools/scripts ./install_for_noetic.sh ``` 3. 编译 ``` cd ~/catkin_ws catkin_make ``` 简单场景: ``` roslaunch wpr_simulation wpb_simple.launch ```  SLAM环境地图创建: ``` roslaunch wpr_simulation wpb_gmapping.launch ```  Navigation导航: ``` roslaunch wpr_simulation wpb_navigation.launch ```  物品抓取: ``` roslaunch wpr_simulation wpb_table.launch rosrun wpb_home_tutorials wpb_home_grab_client ```  ### 二、 启明1服务机器人 1. 获取源码: ``` cd ~/catkin_ws/src/ git clone https://github.com/6-robot/wpr_simulation.git git clone https://github.com/6-robot/wpr1.git git clone https://github.com/6-robot/waterplus_map_tools.git git clone https://github.com/6-robot/xfyun_waterplus.git ``` 2. 安装依赖项: ROS Noetic (Ubuntu 20.04) ``` cd ~/catkin_ws/src/wpr_simulation/scripts ./install_for_noetic.sh cd ~/catkin_ws/src/wpr1/wpr1_bringup/scripts ./install_for_noetic.sh cd ~/catkin_ws/src/waterplus_map_tools/scripts ./install_for_noetic.sh ``` 3. 编译 ``` cd ~/catkin_ws catkin_make ``` 简单场景: ``` roslaunch wpr_simulation wpr1_simple.launch ```  SLAM环境地图创建: ``` roslaunch wpr_simulation wpr1_gmapping.launch ```  Navigation导航: ``` roslaunch wpr_simulation wpr1_navigation.launch ```