IM(Intelligent Manufacture) Robot

This robot is combine car with arm.

1 car Simulation

1.1 navigation

navigation and avoid obstacles by ros move base

roslaunch thurobot thurobot_laser_nav_gazabo.launch
roslaunch thurobot nav_cloister_demo_sim.launch
roslaunch thurobot thurobot_teleop.launch

1.2 exploring slam

roslaunch thurobot thurobot_laser_nav_gazabo.launch
roslaunch thurobot exploring_slam_demo.launch
rosrun thurobot exploring_slam_sim.py 

2 car testing in robot

roslaunch thurobot bringup.launch 

You need to change linear_scale parameter in bringup.launch file.(I set as 1.0)

3 arm simulation

roslaunch auboi5_moveit_config demo.launch sim:=true

Then select "Interact" and move the end-effector to a new goal.

In "Motion Planning" -> "Plan and Execute" to send trajectory to the sim robot

Exit RViz and Ctrl-C the demo.launch window

4 bringup.launch

roslaunch thurobot bringup.launch

4.1 arduino_serial_node

src/rosserial/rosserial_arduino/nodes/serial_node.py

1. 设置串口属性，波特率
2. 进入循环，执行SerialClient任务，接收并转发单片机发送的数据

4.2 apply_calib

src/imu_calib/src/accl_calib/apply_calib_node.cpp --apply_calib.cpp

4 remote move by keyboard

roslaunch teleop_twist_keyboard thurobot_teleop.py

6 remote establish map

roslaunch thurobot lidar_slam.launch

7 navigation by map

roslaunch thurobot navigate_multi.launch

8 automatic map

roslaunch thurobot auto_slam.launch