ubuntu_uav_ass

git remote set-url origin https:// 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 @github.com/https://github.com/LWL0857/ubuntu_uav_ass.gitLWL0857/ubuntu_uav_ass.git fzp_p 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 scasc

机器环境

Ubuntu20.04 ros2 foxy

库依赖

serial库 --用来实现串口发送

下载这个ros 2 serial库

 https://github.com/ZhaoXiangBox/serial

安装步骤

Adapt to ROS2 foxy.

Install

Get the code:

# open a new terminal 
cd serial
mkdir build

Build:

cd build
cmake ..
make

Install:

sudo make install

也可以不用 make install ,直接和你想要调用本API的ROS2 节点放在同一个 src 下编译即可。有关于本串口操作包的 API 在线文档如下：

参考链接：http://t.csdn.cn/9y3An

vrpn_mocap客户端--用于接收局域网下动捕主机广播的数据

ros的vrpn_mocap库位置

https://github.com/LWL0857/T_vrpn_mocap-release.git

vrpn_mocap

ROS2 VRPN client built pirmarily to interface with motion capture devices such as VICON and OptiTrack. A detailed list of supported hardware can be found on vrpn wiki.

Installation

安装依赖

sudo apt-get install ros-foxy-vrpn

首先clone源码到ros2工作空间的src文件夹下，

将clone的文件夹改名成vrpn_mocap功能包名

在src文件夹同级目录进行

colcon build

然后

source install/setup.bash

ros2 launch client.launch.yaml server:=<server ip> port:=<port>

1. Clone this repo into your ROS2 workspace
2. Run rosdep install --from-paths src -y --ignore-src to install dependencies
3. Run colcon build
4. Your usual ROS2 routines: source install/setup.zsh, etc.

Usage

Launch Default Configuration from Command Line

Run the following command,

ros2 launch client.launch.yaml server:=<server ip> port:=<port>

replacing <server ip> and <port> with your VRPN server ip and port, e.g.

ros2 launch client.launch.yaml server:=192.168.0.4 port:=3883

Then with ros2 topic list, you should be able to see the following topics

/vrpn_mocap/client_node/<tracker_name>/pose
/vrpn_mocap/client_node/<tracker_name>/twist # optional when mocap reports velocity data
/vrpn_mocap/client_node/<tracker_name>/accel # optional when mocap reports acceleration data

where <tracker_name> is usually the name of your tracked objects.

Customized Launch

Check out the default parameter file and launch file. You can then write your own launch file with custom configurations.

Parameters

• server (string) -- server name, either ip address or domain name (default: "localhost")
• port (int) -- VRPN server port (default: 3883)
• frame_id (string) -- frame name of the fixed world frame (default: "world")
• update_freq (double) -- frequency of the motion capture data publisher (default: 100.)
• refresh_freq (double) -- frequency of dynamic adding new tracked objects (default: 1.)
• multi_sensor (bool) -- set to true if there are more than one sensor (frame) reporting on the same object (default: false)

本库代码使用

Install

首先clone源码到工作空间下，并将文件夹改名为src，

即src下有源码中的四个功能包 uav_base uav_msg等

在src同级文件目录下

colcon build
ros2 launch uav_base uav.launch.py  use_mocap:=true port_name:="ttyUSB0"