README_CN.md

AMR Remote Control Toolkit

AMR远程控制工具箱是配合ROS2D-Quasar使用的ROS端程序。通过使用这个工具箱，可以实现以下的功能：

• 远程启动建图或导航程序，以及保存地图、选择地图等功能
• 导航点管理功能
• 机器人已行驶轨迹数据发布

1. 系统要求

• Ubuntu 22.04
• ROS2 Humble

2. 安装步骤

安装Rosbridge

sudo apt-get install ros-humble-rosbridge-server

安装Cartographer

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

安装Navigation2

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

接下来，将项目克隆到工作空间，然后编译即可

cd ~/ros2_ws/src
git clone https://github.com/legubiao/AMR-Remote-Control-Toolkit
cd AMR-Remote-Control-Toolkit
git checkout humble
cd ../..
colcon build

3. 仿真运行

3.1 WSL下配合Webot使用Turtlebot3仿真

WSL下使用Gazebo跑turtlebot的ROS2仿真跑不起来，之后实测发现有更好用的模拟器Webots，因此改在Webots中进行相关的开发测试

安装Turtlebot3相关的ROS包

sudo apt install ros-humble-dynamixel-sdk
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-turtlebot3

安装Webots

Installation (Windows) — ROS 2 Documentation: Humble documentation

简要来说，就是在Windows下安装Webots，然后WSL中安装ros2驱动，就可以在WSL中访问模拟器中的机器人了

sudo apt-get install ros-humble-webots-ros2

安装完成后，可以用以下命令来测试启动Turtlebot3的仿真

ros2 launch webots_ros2_turtlebot robot_launch.py

Try with Turtlebot3 Simulation

Install TurtleBot3 Packages

sudo apt install ros-noetic-dynamixel-sdk ros-noetic-turtlebot3-msgs ros-noetic-turtlebot3

Install gmapping and dwa local planner

sudo apt-get install ros-noetic-gmapping ros-noetic-dwa-local-planner

Install TurtleBot3 Simulation Package

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

Set Default TurtleBot3 Model

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc

Modified the default map folder in launch/turtlebot.launch

Launch the demo

roslaunch amr_rctk turtlebot.launch

You can launch gmapping by send to map_command topic

The slam node will be started and rviz will popup

In order to save map, just send save YOUR_MAP_NAME to the map_command topic