ssh visualization

发表于 |

  1. ssh boocax@192.168.1.100

    密码：robot123

  2. echo $ROS_MASTER_URI

    查看端口号11311

  3. 小车端：

    export ROS_MASTER_URI=http://192.168.1.100:11311

    export ROS_IP=192.168.1.100

  4. 虚拟机端：

    export ROS_MASTER_URI=http://192.168.1.100:11311

    export ROS_IP=172.16.128.142

#

  1. nav远程开启三个终端（代码重构以前）：

    move_base: roslaunch teleop_twist_joy real_nav.launch

    mapserver: rosrun map_server map_server catkin_ws2/src/patrol/map/p1.yaml

    amcl: roslaunch patrol real_loc.launch

  2. 本地可视化：rviz／rqt_graph / rosservice call /rostopic pub

    • 全局定位：

      1
      rosservice call /global_localization "{}"

    • 设置导航目标点：

      1
      2
      3
      4
      5
      // 相对base_link坐标系
      rostopic pub -1 /navigation_simple/goal geometry_msgs/PoseStamped '{ header: { frame_id: "base_link" }, pose: { position: { x: 0.5, y: 0.0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } } }'

      // 相对map坐标系
      rostopic pub -1 /navigation_simple/goal geometry_msgs/PoseStamped '{ header: { frame_id: "map" }, pose: { position: { x: 5, y: 0.0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } } }'

      注意-1，否则循环发布。

#

往回备份：

1
scp -r boocax@192.168.1.100:/home/boocax/catkin_ws2019 bkp/