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Dominik
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cleanup merge
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‎.gitignore

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/build/
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/devel/
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*/ydlidar/**
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/ydlidar/
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*.pyc

‎.gitmodules

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[submodule "src/teleop_twist_keyboard"]
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path = src/teleop_twist_keyboard
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url = https://github.com/ros-teleop/teleop_twist_keyboard.git
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[submodule "src/ydlidar"]
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path = src/ydlidar
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url = https://github.com/YDLIDAR/ydlidar_ros.git
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branch = X4

‎README.md

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* Ydlidar X4
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* LiPo 3.7V JST PH 2.0
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### Wiring
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H-Bridge | Raspberry Pi GPIO
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--- | ---:
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N1 | 13 (PWM1)
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N2 | 19 (PWM1)
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N3 | 18 (PWM0)
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N4 | 12 (PWM0)
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<img alt="Raspi 3 PWM pins" src="doc/raspberry_pi_3_PWM_pins.png" width="50%">
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<img alt="H-bridge wiring" src="doc/wiring_hbrige_raspi.jpg" width="50%">
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[//]: <> (https://funduino.de/nr-34-motoren-mit-h-bruecke-l298n-ansteuern)
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## Setup
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* Ubuntu 18.04 LTS
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* ROS Melodic
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* `$ sudo ./ros_install.sh`
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[TF tree](doc/frames.pdf)
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![TF tree](doc/frames.pdf)
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<img alt="rqt_graph" src="doc/rqt_graph.svg" width="100%">
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## Start
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## Start robot
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```
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$ catkin_make
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$ source /devel/setup.bash

‎doc/frames.pdf

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‎doc/raspberry_pi_3_PWM_pins.png

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‎doc/rqt_graph.svg

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‎doc/wiring_hbrige_raspi.jpg

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‎ros_install.sh

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apt-get update &&
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apt-get upgrade &&
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apt-get install ros-melodic-navigation \
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#apt-get update &&
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#apt-get upgrade -y &&
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apt-get install -y ros-melodic-navigation \
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ros-melodic-geometry \
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ros-melodic-hector-mapping
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ros-melodic-hector-mapping \
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ros-melodic-teleop-twist-keyboard \
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ros-melodic-hector-slam

‎rviz/rviz.launch

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<?xml version="1.0"?>
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<launch>
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<node pkg="rviz" type="rviz" name="rviz" args="-d ~/code/RRRAGV/rviz/rviz.rviz"/>
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</launch>

‎rviz/rviz.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 84
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5819209218025208
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Tree Height: 706
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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Name: Tool Properties
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Splitter Ratio: 0.5
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic: /map
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.5
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: PotentialMap
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Topic: /move_base/GlobalPlanner/potential
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.4000000059604645
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: GlobalCostMap
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Topic: /move_base/global_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 0.800000011920929
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Class: rviz/Map
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Color Scheme: costmap
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Draw Behind: false
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Enabled: true
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Name: LocalCostMap
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Topic: /move_base/local_costmap/costmap
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Unreliable: false
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Use Timestamp: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 25; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Path
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /trajectory
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 25; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Global Plan
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base/TrajectoryPlannerROS/global_plan
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 225; 0; 255
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Lines
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Line Width: 0.029999999329447746
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Name: Local Plan
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /move_base/TrajectoryPlannerROS/local_plan
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: Pose
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Axes
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Topic: /slam_out_pose
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: CurrentGoalPose
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /move_base/current_goal
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Unreliable: false
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Value: true
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- Alpha: 1
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Axes Length: 1
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Axes Radius: 0.10000000149011612
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Class: rviz/Pose
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Color: 255; 25; 0
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Enabled: true
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Head Length: 0.30000001192092896
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Head Radius: 0.10000000149011612
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Name: GoalPose
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Shaft Length: 1
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Shaft Radius: 0.05000000074505806
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Shape: Arrow
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Topic: /move_base_simple/goal
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Unreliable: false
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 47
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Min Color: 0; 0; 0
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Min Intensity: 47
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Name: PointCloud
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /slam_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/XYOrbit
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Distance: 15.731557846069336
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 3.1519601345062256
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Y: -3.6296582221984863
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Z: 4.226488272252027e-6
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.5697963237762451
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Target Frame: <Fixed Frame>
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Value: XYOrbit (rviz)
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Yaw: 4.778598308563232
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Saved: ~
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Window Geometry:
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"&Displays":
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collapsed: false
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"&Time":
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collapsed: false
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Height: 1051
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000363fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007601000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004400000363000000f701000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000001ea000001bd0000007601000003000000010000010f000002c6fc0200000002fb0000000a005600690065007700730000000027000002c6000000d001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004cfc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000006150000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1920
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X: 1920
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Y: 0
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