操作ＲＯＳ松灵机器人步骤及遇到的问题

小车型号：scout－v2.0

https://github.com/agilexrobotics/scout_ros（所用包的下载地址）

或者

https://hub.fastgit.org/agilexrobotics/scout_ros

注意：使用https://github.com下载的很慢，可以采用国内镜像替换https://www.jianshu.com/p/29824058380f

即

https://hub.fastgit.org/agilexrobotics/scout_ros

Communication interface setup

不用管前面得序号，直接一步一步敲命令

Setup UART

Generally your RS232-to-USB cable should be automatically recognized as "/dev/ttyUSB0" or something similar and ready for use. If you get the error "... permission denied ..." when trying to open the port, you need to grant access of the port to your user account:

$ sudo usermod -a -G dialout $USER

You need to re-login to get the change to take effect.

Setup CAN-To-USB adapter

Enable gs_usb kernel module
```
$ sudo modprobe gs_usb
```

Bringup can device

$ sudo ip link set can0 up type can bitrate 500000

If no error occured during the previous steps, you should be able to see the can device now by using command
```
$ ifconfig -a
```
Install and use can-utils to test the hardware
```
$ sudo apt install can-utils
```

Testing command

# receiving data from can0
$ candump can0
# send data to can0
$ cansend can0 001#1122334455667788

Install dependent libraries

$ sudo apt install -y libasio-dev
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard

Clone the packages into your catkin workspace and compile

(the following instructions assume your catkin workspace is at: ~/catkin_ws/src)
```
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/scout_ros.git
$ cd ..
$ catkin_make
```
if your car is 1.0 version,Please run this command to switch ugv_sdk to 1.0 version
```
$ cd ugv_sdk && git checkout master
```
then recompile
Launch ROS nodes

Start the base node for scout
```
$ roslaunch scout_bringup scout_minimal.launch
```
The scout_bringup/scout_minimal.launch has 5 parameters:
- port_name: specifies the port used to communicate with the robot, default = "can0"
- simulated_robot: indicates if launching with a simulation, default = "false"
- model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = scout_v2.xacro
- odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
- is_scout_mini:Suitable for chassis of type scout_mini,defaults = "false"

Start the base node for scout-mini

$ roslaunch scout_bringup scout_mini_minimal.launch

Start the keyboard tele-op node

$ roslaunch scout_bringup scout_teleop_keyboard.launch

一.catkin_make编译时，总失败，报错如下：

param_demo.cpp:(.text+0x50)：对‘ros::init(int&, char**, std::string const&, unsigned int)’未定义的引用

param_demo.cpp:(.text+0x80)：对‘ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)’未定义的引用

param_demo.cpp:(.text+0xb8)：对‘ros::param::get(std::string const&, int&)’未定义的引用

param_demo.cpp:(.text+0x100)：对‘ros::NodeHandle::getParam(std::string const&, int&) const’未定义的引用

param_demo.cpp:(.text+0x1e8)：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用

解决办法：g++ 和gcc 版本不同造成编译错误，参考https://blog.csdn.net/xrinosvip/article/details/81177873

修改成统一版本即可编译成功！！！

命令如下：（查看版本）

gcc -v

g++ -v

(修改g++ 和gcc的版本，选择数字后回车即可，gcc 和g++ 必须统一才行！)

sudo update-alternatives --config g++

sudo update-alternatives --config gcc

二．运行roslaunch scout_bringup scout_minimal.launch　报错如下：

RLException: [scout_minimal.launch] is neither a launch file in package [scout_bringup] nor is [scout_bringup] a launch file name
The traceback for the exception was written to the log file
解决方案：在catkin_ws目录下：source ./devel/setup.bash 即可解决

三．　nanjingtech@nanjingtech-desktop:~/catkin_ws2$ source ./devel/setup.bash
　　　nanjingtech@nanjingtech-desktop:~/catkin_ws2$ roslaunch scout_bringup scout_teleop_keyboard.launch　

报错如下：

ModuleNotFoundError: No module named 'rospkg'
[teleop_keybord-1] process has died [pid 7638, exit code 1, cmd /opt/ros/melodic/lib/teleop_twist_keyboard/teleop_twist_keyboard.py __name:=teleop_keybord __log:=/home/nanjingtech/.ros/log/c9cfb1de-edf0-11eb-818c-845cf327b690/teleop_keybord-1.log].
log file: /home/nanjingtech/.ros/log/c9cfb1de-edf0-11eb-818c-845cf327b690/teleop_keybord-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
解决方案参考https://blog.csdn.net/weixin_45688316/article/details/103697198

python版本的问题！！　

解决方案
因为ubuntu18.04使用的ros版本是melodic，而melodic默认使用的是python2，但是我们跑代码实际用的是python3。
所以现在bashrc文件里加

alias python=python3

保存后

source ~/.bashrc

下载rospkg

pip3 install rospkg

问题解决