Professional Documents
Culture Documents
Instalar Anaconda:
cd /tmp
curl -O https://repo.anaconda.com/archive/Anaconda3-2019.03-Linux-x86_64.sh
sha256sum Anaconda3-2019.03-Linux-x86_64.sh
bash Anaconda3-2019.03-Linux-x86_64.sh
source ~/.bashrc
https://www.digitalocean.com/community/tutorials/como-instalar-anaconda-en-ubuntu-18-04-
quickstart-es
Instalar ROS:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" >
/etc/apt/sources.list.d/ros-latest.list'
source /opt/ros/melodic/setup.bash
rosdep update
http://wiki.ros.org/melodic/Installation/Ubuntu
Crear ws
deshabilitar el ambiente virtual comentado el .bashrc
mkdir -p ~/catkin_ws/src
cd catkin_ws
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
-DPYTHON_INCLUDE_DIR=/usr/include/python3.6m
-DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin_make
cd src
Open CV
instalar opencv para c++ es complicado, el paso anterior lo instala con version 3.2(creo)
instalar opencv para python se hace con pib, tiene que instalarse opencv y el contrib CON
LA MISMA VERSION
CERES
sudo apt-get install -y libgoogle-glog-dev
sudo apt-get install -y libatlas-base-dev
Errores:
https://answers.ros.org/question/311676/what-does-rospack-permission-denied-means/
no module name em
sudo apt-get install python3-empy
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
Compilación
cd catkin_build_ws
catkin_make
catkin_make install
gedit ~/.bashrc
cd catkin_build_ws
catkin_make
catkin_make install
source devel/setup.bash
roslaunch pkg file.launch
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674
teb local planner:control moderno, path planning local, red neuronal, considera el
jerk(derivada de la aceleración), la determinación se hace por cierta frecuencia y se hace
global,
cd catkin_ws
source devel/setup.bash
roslaunch my_robot world_new.launch
roslaunch my_robot acml.launch
rviz->2D Nav Goal se puede poner un punto a donde mover
/catkin_source/src/my_robot/config/config tiene los archivos de parámetros de configuración.
Odometría Visual:
roslaunch zed_wrapper zed.launch
rviz
Fixed Frame→odom_zed
add→TF
add→PointCloud2
topic→zed/zed_node/point_cloud/cloud_registered
add→Camera
topic→zed/zed_node/left_raw/image_raw_color
topic→zed/zed_node/right_raw/image_raw_color
catkin_make install