瓜大无人船踩坑记2

  1. 设备准备

    • 手柄
    • 电池（2块）
    • 电台及天线
    • 电台电池（12V）
    • 网线1根
    • 计算机

  2. 设置计算机网络

    • 静态ip地址

    • 网段：192.168.0.x

      已占用的地址：

      192.168.0.57  usv3-laptop
192.168.0.205 hans-linuxpc

    • 工控机密码123

  3. 设置工控机网络

    • 静态ip地址，无需改动

    • 连接键盘鼠标，使用

      sudo gedit /etc/hosts

      在其中添加你的pc：

      192.168.0.x  xxxxxx

  4. 远程连接服务器

    • ping测试

      # usv3
# you can also ping usv3-laptop
ping 192.168.0.57
# inet(usv)
ping 192.168.0.11
# inet(land)
ping 192.168.0.26

    • 远程登录

      ssh usv3@usv3-laptop

  5. 编译

    cd ~/dev/catkin_ws_serial_03
catkin_make

  6. 推进器连接电源，并打开开关
    【注意】：对于修正的版本，此后仅需在根目录下依次执行

    . ./sensor.sh
. ./actuator.sh

    并在个人PC上执行：

    cd [YOU_PC_WORKSPACE]
source devel/setup.bash
export ROS_MASTER_URI=http://usv3-laptop:11311/
roslaunch my_serial_node joy.launch

    如果需要查看rostopic的内容，必须先进行source
    对于修正的版本，仅需：

    cd ~
. ./init.sh

  7. 依次连接SBG、GPS、推进器

    赋权限：

    dmesg | grep tty

    看一下是不是3个，然后：

    sudo chmod a+rw /dev/ttyUSB0
sudo chmod a+rw /dev/ttyUSB1
sudo chmod a+rw /dev/ttyUSB2

  8. 执行ros命令

    记得每次都需要远程连接，并

    cd ~/dev/catkin_ws_serial_03
source devel/setup.bash

    随后：

    roscore

    执行：

    roslaunch launch_files npu_asv_sensor.launch

SUMMARY
========

CLEAR PARAMETERS
 * /ekf_se_ship3/

PARAMETERS
 * /ekf_se_ship3/acceleration_gains: [0.8, 0.0, 0.0, 0...
 * /ekf_se_ship3/acceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ekf_se_ship3/base_link_frame: base_link
 * /ekf_se_ship3/control_config: [True, False, Fal...
 * /ekf_se_ship3/control_timeout: 0.2
 * /ekf_se_ship3/debug: False
 * /ekf_se_ship3/debug_out_file: /path/to/debug/fi...
 * /ekf_se_ship3/deceleration_gains: [1.0, 0.0, 0.0, 0...
 * /ekf_se_ship3/deceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ekf_se_ship3/frequency: 30
 * /ekf_se_ship3/imu0: /imu_data1
 * /ekf_se_ship3/imu0_config: [False, False, Fa...
 * /ekf_se_ship3/imu0_differential: False
 * /ekf_se_ship3/imu0_linear_acceleration_rejection_threshold: 0.8
 * /ekf_se_ship3/imu0_nodelay: False
 * /ekf_se_ship3/imu0_pose_rejection_threshold: 0.8
 * /ekf_se_ship3/imu0_queue_size: 5
 * /ekf_se_ship3/imu0_relative: False
 * /ekf_se_ship3/imu0_remove_gravitational_acceleration: False
 * /ekf_se_ship3/imu0_twist_rejection_threshold: 0.8
 * /ekf_se_ship3/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /ekf_se_ship3/map_frame: map
 * /ekf_se_ship3/odom0: /odom
 * /ekf_se_ship3/odom0_config: [True, True, Fals...
 * /ekf_se_ship3/odom0_differential: True
 * /ekf_se_ship3/odom0_nodelay: False
 * /ekf_se_ship3/odom0_pose_rejection_threshold: 5
 * /ekf_se_ship3/odom0_queue_size: 10
 * /ekf_se_ship3/odom0_relative: False
 * /ekf_se_ship3/odom0_twist_rejection_threshold: 1
 * /ekf_se_ship3/odom1: example/odom
 * /ekf_se_ship3/odom1_config: [True, True, Fals...
 * /ekf_se_ship3/odom1_differential: False
 * /ekf_se_ship3/odom1_nodelay: False
 * /ekf_se_ship3/odom1_pose_rejection_threshold: 2
 * /ekf_se_ship3/odom1_queue_size: 10
 * /ekf_se_ship3/odom1_relative: True
 * /ekf_se_ship3/odom1_twist_rejection_threshold: 1
 * /ekf_se_ship3/odom_frame: odom
 * /ekf_se_ship3/pose0: example/pose
 * /ekf_se_ship3/pose0_config: [True, True, Fals...
 * /ekf_se_ship3/pose0_differential: True
 * /ekf_se_ship3/pose0_nodelay: False
 * /ekf_se_ship3/pose0_queue_size: 5
 * /ekf_se_ship3/pose0_rejection_threshold: 2
 * /ekf_se_ship3/pose0_relative: False
 * /ekf_se_ship3/print_diagnostics: True
 * /ekf_se_ship3/process_noise_covariance: [0.05, 0, 0, 0, 0...
 * /ekf_se_ship3/publish_acceleration: False
 * /ekf_se_ship3/publish_tf: False
 * /ekf_se_ship3/sensor_timeout: 1
 * /ekf_se_ship3/stamped_control: False
 * /ekf_se_ship3/transform_time_offset: 0.0
 * /ekf_se_ship3/transform_timeout: 0.0
 * /ekf_se_ship3/twist0: example/twist
 * /ekf_se_ship3/twist0_config: [False, False, Fa...
 * /ekf_se_ship3/twist0_nodelay: False
 * /ekf_se_ship3/twist0_queue_size: 3
 * /ekf_se_ship3/twist0_rejection_threshold: 2
 * /ekf_se_ship3/two_d_mode: True
 * /ekf_se_ship3/use_control: False
 * /ekf_se_ship3/world_frame: odom
 * /nmea_serial_driver_node_ship3/baud: 115200
 * /nmea_serial_driver_node_ship3/frame_id: odom
 * /nmea_serial_driver_node_ship3/port: /dev/ttyUSB2
 * /nmea_serial_driver_node_ship3/time_ref_source: gps
 * /nmea_serial_driver_node_ship3/useRMC: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    ekf_se_ship3 (robot_localization/ekf_localization_node)
    imudata_sbg_ship3 (tutorial/imudata_sbg.py)
    listener_ship3 (my_serial_node/listener)
    nmea_serial_driver_node_ship3 (nmea_navsat_driver/nmea_serial_driver)
    odom_trans_ship3 (tutorial/odom_trans_npu.py)
    sbg_serial_ship3 (my_serial_node/sbg_serial)
    sonar_listener_ship3 (my_serial_node/sonar_listener)
    sonar_serial_ship3 (my_serial_node/sonar_serial)
    utm_odometry_node_ship3 (gps_common/utm_odometry_node)

ROS_MASTER_URI=http://localhost:11311

process[sbg_serial_ship3-1]: started with pid [10077]
process[listener_ship3-2]: started with pid [10078]
process[nmea_serial_driver_node_ship3-3]: started with pid [10088]
process[sonar_listener_ship3-4]: started with pid [10101]
process[sonar_serial_ship3-5]: started with pid [10104]
process[utm_odometry_node_ship3-6]: started with pid [10112]
process[imudata_sbg_ship3-7]: started with pid [10121]
process[odom_trans_ship3-8]: started with pid [10127]
[ERROR] [1606464842.121274597]: Unable to open Sonarport 
process[ekf_se_ship3-9]: started with pid [10149]

    亦可执行：

    . ./sensor.sh

  9. 执行ros命令

    执行：

    roslaunch launch_files npu_asv_actuator.launch

NODES
  /
    talker_ship3 (my_serial_node/talker_ship2u1)
    thrust_serial_ship3 (my_serial_node/thrust_serial)
    
ROS_MASTER_URI=http://localhost:11311
process[talker_ship3-1]: started with pid [3178]
process[thrust_serial_ship3-2]: started with pid [3179]

    亦可执行：

    . ./actuator.sh

  10. 启动遥控节点

    cd [YOU_PC_WORKSPACE]
source devel/setup.bash
export ROS_MASTER_URI=http://usv3-laptop:11311/
roslaunch my_serial_node joy.launch

    启动情况：

    NODES
  /
    joy_node (joy/joy_node)
    joy_prop (my_serial_node/joy_prop.py)

ROS_MASTER_URI=http://usv3-laptop:11311/

process[joy_prop-1]: started with pid [3955]
process[joy_node-2]: started with pid [3956]

备注：修正版本的记录。

  1. 绑定USB端口位置与传感器

    作用：无需按顺序插线即可正常连接传感器。

    参考：https://blog.csdn.net/weixin_45258318/article/details/110946148

  2. 修改代码中关于USB号的部分

    修改的文件与内容如下：

    1. /src/mypackage/my_serial_node/src/sbg_serial.cpp

      ros::init(argc, argv, "sbg_serial");
ros::NodeHandle n;
//发布主题sensor
ros::Publisher sensor_pub = n.advertise<my_serial_node::serialmsg>("sbg_yaw", 1000);

try
{
//sbg_ser.setPort("/dev/ttyUSB0");
sbg_ser.setPort("/dev/sbg");
sbg_ser.setBaudrate(115200);
serial::Timeout to = serial::Timeout::simpleTimeout(1000);
sbg_ser.setTimeout(to);
sbg_ser.open();
}

    2. /src/mypackage/my_serial_node/src/thrust_serial.cpp

      ros::init(argc, argv, "serial1");
ros::NodeHandle n;
//订阅主题command
ros::Subscriber command_sub = n.subscribe("command", 1000, callback);
try
{  
    //thrust_ser.setPort("/dev/ttyUSB2");
    thrust_ser.setPort("/dev/thrust");
    thrust_ser.setBaudrate(115200);
    serial::Timeout to = serial::Timeout::simpleTimeout(1000);
    thrust_ser.setTimeout(to);
    thrust_ser.open();
}

    3. /src/mypackage/nmea_navsat_driver/launch/nmea_serial_driver.launch

      <launch>

  <!-- A simple launch file for the nmea_serial_driver node. -->

  <!--<arg name="port" default="/dev/ttyUSB1" />-->
  <arg name="port" default="/dev/gps" />
  <arg name="baud" default="115200" />
  <arg name="frame_id" default="odom" />
  <arg name="time_ref_source" default="gps" />
  <arg name="useRMC" default="false" />

  <node name="nmea_serial_driver_node" pkg="nmea_navsat_driver" type="nmea_serial_driver" output="log">
    <param name="port" value="$(arg port)"/>
    <param name="baud" value="$(arg baud)" />
    <param name="frame_id" value="$(arg frame_id)" />
    <param name="time_ref_source" value="$(arg time_ref_source)" />
    <param name="useRMC" value="$(arg useRMC)" />
  </node>

</launch>
posted @ 2020-11-27 16:55  HAN_Letisl  阅读(181)  评论(0)  编辑  收藏  举报