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cd ~/.gazebo/
mkdir -p models cd ~/.gazebo/models/ wget http://file.ncnynl.com/ros/gazebo_models.txt wget -i gazebo_models.txt ls model.tar.g* | xargs -n1 tar xzvf
git clone https://gitee.com/yltzdhbc/gazebo_models mv gazebo_models models
cd ~/catkin_ws/src/
git clone https://gitee.com/zthcool/turtlebot3_simulations
git clone https://gitee.com/hhdang/hls_lfcd_lds_driver
git clone https://gitee.com/zthcool/turtlebot3
git clone https://gitee.com/mieximiemie/turtlebot3_msgs cd ~/catkin_ws && catkin_make
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update sudo apt-get upgrade sudo apt-get install gazebo11
sudo apt-get install libgazebo11-dev
gedit ~/.bashrc
source ~/.bashrc
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
rostopic list
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
echo "export SVGA_VGPU10=0" >> ~/.bashrc source ~/.bashrc
cd ~/catkin_ws/src git clone https://gitee.com/shandianchengzi/learning_topic.git cd ~/catkin_ws/ && catkin_make chmod +x ~/catkin_ws/src/learning_topic/scripts/*.py
---------------01follower.py Beg----------------
import rospy from sensor_msgs.msg import Image
def image_callback(msg): pass
rospy.init_node('follower') image_sub = rospy.Subscriber('camera/rgb/image_raw', Image, image_callback)
rospy.spin()
---------------01follower.py End----------------
rosrun learning_topic 01follower.py rosnode list rosnode info /follower rostopic hz /camera/rgb/image_raw
---------------02follower_opencv.py Beg----------------
import rospy from sensor_msgs.msg import Image import cv2, cv_bridge
def image_callback(msg): image = bridge.imgmsg_to_cv2(msg,desired_encoding="bgr8") if(image.all() == None): print("Can't get your image, please check your code!") else : cv2.namedWindow("showImage",cv2.WINDOW_NORMAL) cv2.imshow("showImage",image[:,:,0]) cv2.waitKey(3)
rospy.init_node('follower',anonymous = True) bridge = cv_bridge.CvBridge() image_sub=rospy.Subscriber('/camera/rgb/image_raw',Image,image_callback)
rospy.spin()
---------------02follower_opencv.py End----------------
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch rosrun learning_topic 02follower_opencv.py
cp ~/catkin_ws/src/turtlebot3_simulation/turtlebot3_gazebo/models/* ~/catkin_ws/src/learning_topic/models/
---------------0course.launch Beg----------------
<launch> <env name="GAZEBO_RESOURCE_PATH" value="$(find learning_topic)/models/turtlebot3_autorace/ground_picture" /> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="x_pos" default="0.0"/> <arg name="y_pos" default="0.0"/> <arg name="z_pos" default="0.0"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find learning_topic)/worlds/course.world"/> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="debug" value="false"/> </include>
<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> <param name="publish_frequency" type="double" value="30.0" /> </node>
<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" /> </launch>
---------------0course.launch End----------------
---------------course.world Beg----------------
<sdf version="1.4"> <world name="default">
<scene> <ambient>0.4 0.4 0.4 1</ambient> <background>0.7 0.7 0.7 1</background> <shadows>true</shadows> </scene>
<!-- A global light source --> <include> <uri>model://sun</uri> </include>
<!-- A ground plane --> <include> <uri>model://ground_plane</uri> </include> <!-- Our ground image --> <include> <uri>model://turtlebot3_autorace/course</uri> <pose> 0 0 0 0 0 -1.54</pose> </include> <physics type="ode"> <real_time_update_rate>1000.0</real_time_update_rate> <max_step_size>0.001</max_step_size> <real_time_factor>1</real_time_factor> <ode> <solver> <type>quick</type> <iters>150</iters> <precon_iters>0</precon_iters> <sor>1.400000</sor> <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling> </solver> <constraints> <cfm>0.00001</cfm> <erp>0.2</erp> <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel> <contact_surface_layer>0.01000</contact_surface_layer> </constraints> </ode> </physics> </world>
</sdf>
---------------course.world End----------------
roslaunch learning_topic 0course.launch
---------------03follower_color_filter.py Beg----------------
import rospy ,cv2, cv_bridge , numpy from sensor_msgs.msg import Image
class Follower: def __init__(self): self.bridge = cv_bridge.CvBridge() self.image_sub=rospy.Subscriber('/camera/rgb/image_raw',Image,self.image_callback) def image_callback(self,msg): image = self.bridge.imgmsg_to_cv2(msg) if(image.all()!=None): hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) lower_yellow = numpy.array([20,43,46]) upper_yellow = numpy.array([90,255,255]) mask = cv2.inRange(hsv, lower_yellow, upper_yellow) masked = cv2.bitwise_and(image,image,mask=mask) cv2.namedWindow("showYellowOnly",cv2.WINDOW_NORMAL) cv2.imshow("showYellowOnly",mask) cv2.waitKey(3) rospy.init_node('follower',anonymous = True) follower = Follower() rospy.spin()
---------------03follower_color_filter.py End----------------
---------------04follower_line_finder.py Beg----------------
import rospy ,cv2, cv_bridge , numpy from sensor_msgs.msg import Image
class Follower: def __init__(self): self.bridge = cv_bridge.CvBridge() self.image_sub = rospy.Subscriber( '/camera/rgb/image_raw', Image, self.image_callback ) def image_callback(self,msg): image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) lower_yellow = numpy.array([20,43,46]) upper_yellow = numpy.array([90,255,255]) mask = cv2.inRange(hsv, lower_yellow, upper_yellow) h,w,d= image.shape top = 3*h/4 bot = top + 20 mask[int(0):int(top),:] = 0 mask[int(bot):int(h),:] = 0 M = cv2.moments(mask) if M['m00']>0: cx = int(M['m10']/M['m00']) cy = int(M['m01']/M['m00']) cv2.circle(image,(cx,cy),20,(0,0,255),-1) cv2.namedWindow("showImage",cv2.WINDOW_NORMAL) cv2.imshow("showImage",image) cv2.namedWindow("findLine",cv2.WINDOW_NORMAL) cv2.imshow("findLine",mask) cv2.waitKey(3) rospy.init_node('follower',anonymous = True) follower = Follower() rospy.spin()
---------------04follower_line_finder.py End----------------
---------------05follower_proporation.py Beg----------------
import rospy ,cv2, cv_bridge , numpy from sensor_msgs.msg import Image from geometry_msgs.msg import Twist
class Follower: def __init__(self): self.bridge = cv_bridge.CvBridge() self.image_sub = rospy.Subscriber('/camera/rgb/image_raw',Image,self.image_callback) self.cmd_vel_pub = rospy.Publisher('cmd_vel',Twist,queue_size =1) self.twist =Twist() def image_callback(self,msg): image = self.bridge.imgmsg_to_cv2(msg,desired_encoding='bgr8') hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) lower_yellow = numpy.array([20,43,46]) upper_yellow = numpy.array([90,255,255]) mask = cv2.inRange(hsv, lower_yellow, upper_yellow) h,w,d= image.shape top = 5*h/6 bot = top + 20 mask[int(0):int(top),:] = 0 mask[int(bot):int(h),:] = 0 M = cv2.moments(mask) if M['m00']>0: cx = int(M['m10']/M['m00']) cy = int(M['m01']/M['m00']) cv2.circle(image,(cx,cy),20,(0,0,255),-1) err = cx-w/2 self.twist.linear.x = 0.15 self.twist.angular.z = -float(err)/1000 self.cmd_vel_pub.publish(self.twist) cv2.namedWindow("showImage",cv2.WINDOW_NORMAL) cv2.imshow("showImage",image)
cv2.waitKey(3) rospy.init_node('follower',anonymous = True) follower = Follower() rospy.spin()
---------------05follower_proporation.py End----------------
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