Tianbot

深浅模式

智能无人系统仿真环境 ​

《智能无人系统综合设计》是西北工业大学无人系统技术研究院基于“智能无人系统科学与技术”学科建设的综合性核心课程。 仿真环境建立在以下开源项目基础上。

测试环境：Ubuntu 20.04/ROS Noetic。

代码仓库：https://github.com/lbhwyy/nwpu_course.git

1.rmtt无人机仿真 ​

启动无人机仿真环境 ​

shell
source study_ws/devel/setup.bash
roslaunch hector_quadrotor_demo start_indoor_world.launch 
roslaunch hector_quadrotor_demo put_robot_in_world.launch

查看当前话题 ​

shell
rostopic list

可视化查看节点信息及话题消息 ​

shell
rqt

使用tf_tree工具查看tf变换关系、image_view工具查看图像数据

启动键盘控制节点，无人机红色杆为飞机正方向 ​

shell
source study_ws/devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

2.mini小车仿真 ​

启动小车gazebo仿真环境 ​

shell
source study_ws/devel/setup.bash
roslaunch tianbot_mini simulation.launch

查看当前话题 ​

shell
rostopic list

可视化查看节点信息及话题消息 ​

shell
rqt

使用tf_tree工具查看tf变换关系、image_view工具查看图像数据

启动键盘控制节点 ​

shell
source study_ws/devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/tianbot_mini/cmd_vel

3.小车跟随无人机（无避障） ​

shell
source study_ws/devel/setup.bash
roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

先启动键盘控制节点 ​

shell
source study_ws/devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

按下t键使飞机飞起，以避免开启跟随节点后，飞机与小车相撞

开启跟随节点 ​

shell
source study_ws/devel/setup.bash
rosrun hector_quadrotor_demo turtle_tf2_listener.py

4.小车跟随rmtt无人机（避障） ​

启动仿真环境 ​

shell
source study_ws/devel/setup.bash
roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

启动导航节点 ​

shell
source study_ws/devel/setup.bash
roslaunch tianbot_nav navigation_demo.launch

启动键盘遥控节点 ​

​按下键盘上的t即可起飞，b即可降落

shell
source study_ws/devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

启动tianbot_mini跟踪无人机节点 ​

shell
source study_ws/devel/setup.bash
rosrun hector_quadrotor_demo mini_track_drone.py

将rviz中camera的话题修改为/front_cam/camera/image即可

5.rmtt无人机跟踪小车二维码 ​

启动仿真环境 ​

shell
source study_ws/devel/setup.bash
roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch

启动tianbot_mini键盘控制节点 ​

shell
source study_ws/devel/setup.bash
roslaunch tianbot_mini teleop.launch

启动二维码检测节点 ​

shell
source study_ws/devel/setup.bash
roslaunch rmtt_apriltag detection.launch

启动无人机跟踪tianbot_mini节点 ​

shell
source study_ws/devel/setup.bash
roslaunch rmtt_tracker rmtt_tag_tracker.launch

查看TF树 ​

shell
rosrun rqt_tf_tree rqt_tf_tree

监测/cmd_vel话题 ​

shell
rostopic echo /cmd_vel

提示

在运行无人机跟踪小车二维码仿真时，需要将rmtt无人机的摄像头画面，对准mini小车上的二维码图片，以激活跟踪节点，这里比较关键。