ROS(indigo)机器人操作系统学习有趣丰富的Gazebo仿真示例evarobot

通过网页快速了解Linux（Ubuntu）和ROS机器人操作系统，请参考实验楼在线系统如下：

初级教程可参考：https://www.shiyanlou.com/courses/854 邀请码：U23ERF8H

中级教程可参考：https://www.shiyanlou.com/courses/938 邀请码：U9SVZMKH

一直在寻找一个示例可以将ROS学习中常用的基础内容大部分都包含进去，最好还包括Gazebo仿真，

这样即使没有硬件设备，也可以很好的学习ROS相关内容，但又必须有对应的硬件，便于后续研究。

这里，介绍一款意外发现的ROS的robot示例----evarobot----

官方教程网址：http://wiki.ros.org/Robots/evarobot

仿真源码网址：https://github.com/inomuh/evarobot_simulator

下面进入正文：

ROS(indigo)机器人操作系统Gazebo仿真示例evarobot

1. 基本安装和编译

下载功能包后，在catkin_ws中进行编译，一切ok，就可以使用这个功能包了。

~/catkin_ws$ catkin_make

有可能遇到一些问题，可能需要下面命令：

~/catkin_ws$ source devel/setup.bash

~/catkin_ws$ rosdep install --from-path src/ -y -i

~/catkin_ws$ rosstack profile & rospack profile

2. 示例使用

上面步骤完成后，就可以复习常用的ROS命令：

~$ rosstack find evarobot_simulator
/home/exbot/catkin_ws/src/evarobot_simulator/evarobot_simulator

exbot@relay-Aspire-4741:~$ rospack find evarobot_gazebo
/home/exbot/catkin_ws/src/evarobot_simulator/evarobot_gazebo

exbot@relay-Aspire-4741:~$ rosls evarobot_gazebo
cfg CMakeLists.txt launch map src
CHANGELOG.rst include LICENSE package.xml worlds

其他还有roscd等，不一一列举。在终端运行：

~$ roslaunch evarobot_gazebo evarobot.launch

~$ rosnode list
/gazebo
/joint_state_publisher
/robot_state_publisher
/rosout
/twist_marker_server
~$ rostopic list
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/sensor/Bumper
/gazebo/set_link_state
/gazebo/set_model_state
/imu
/ir0
/ir0/parameter_descriptions
/ir0/parameter_updates
/ir1
/ir1/parameter_descriptions
/ir1/parameter_updates
/ir2
/ir2/parameter_descriptions
/ir2/parameter_updates
/ir3
/ir3/parameter_descriptions
/ir3/parameter_updates
/joint_states
/lidar
/odom
/rosout
/rosout_agg
/sonar0
/sonar0/parameter_descriptions
/sonar0/parameter_updates
/sonar1
/sonar1/parameter_descriptions
/sonar1/parameter_updates
/sonar2
/sonar2/parameter_descriptions
/sonar2/parameter_updates
/sonar3
/sonar3/parameter_descriptions
/sonar3/parameter_updates
/sonar4
/sonar4/parameter_descriptions
/sonar4/parameter_updates
/sonar5
/sonar5/parameter_descriptions
/sonar5/parameter_updates
/sonar6
/sonar6/parameter_descriptions
/sonar6/parameter_updates
/tf
/tf_static
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full

~$ rosrun rqt_reconfigure rqt_reconfigure

~$ rviz

~$ rosrun rqt_graph rqt_graph

~$ rosrun rqt_console rqt_console

~$ rosrun rqt_plot rqt_plot /cmd_vel

在Gazebo环境中加入一些物体：

$ rosrun rqt_image_view rqt_image_view

可以使用键盘，手柄或手机遥控gazebo中的机器人运动，观察各类传感器数据的变化。

也可以在虚拟仿真环境中，测试各类图像算法等，构建自己的3D模型等，这里不再赘述。

如果想要查看点云，可以通过rviz：

3. SLAM示例

~$ roslaunch evarobot_gazebo evarobot.launch world_path:=$(rospack find evarobot_gazebo)/worlds/UPlat.sdf

~$ roslaunch evarobot_slam gazebo_slam.launch

~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

~$ roslaunch evarobot_viz view_evarobot.launch

~$ rosrun map_server map_saver -f $(rospack find evarobot_slam)/gazebo_map/map

4. 导航

~$ roslaunch evarobot_navigation gazebo_navigation.launch world_path:=$(rospack find evarobot_gazebo)/worlds/UPlat.sdf

遇到点小问题，还未解决。

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