NXROBO Leo

列表 Table of Contents

• [功能包说明 packages-overview](#功能包说明 packages-overview)
• [使用 usage](#使用 usage)
• [功能展示 Function Display](#功能展示 Function Display)

功能包说明 packages-overview

• src : Leo的源代码，包括底层配置，硬件驱动，和各个应用功能包等。
• doc : 驱动安装脚本文件。

使用 usage

系统要求 Prequirement

• System: Ubuntu 22.04+
• ROS Version: Humble (Desktop-Full Install)

下载安装 Download and install

• 下载工作空间 Download the workspace:

git clone https://github.com/NXROBO/leo_agv.git

编译运行 Build and run

cd leo_agv
colcon build

• 如果编译一切正常，可根据提示运行相关例程。If everything goes fine, test the examples as follow:

./onekey.sh

参数说明 Arguments description

Launch file arguments description

camera_type_tel

深度摄像头的型号，其对应值如下表。The model type of the depth camera, and the corresponding values can be seen below...

Camera version	CAMERATYPE value
Intel RealSense D435	"d435"

RGB

深度摄像头的RGB信息topic，其对应值如下表。The RGB information topic of the depth camera, and the corresponding values can be seen below...

Camera version	depthtolaser value
Intel RealSense D435	"/camera/camera/color/image_raw"

Depth

深度摄像头的深度信息topic，其对应值如下表。The depth information topic of the depth camera, and the corresponding values can be seen below...

Camera version	depthtolaser value
Intel RealSense D435	"/camera/camera/depth/image_rect_raw"

lidar_type_tel

激光雷达的型号，其对应值如下表。The model type of the lidar, and the corresponding values can be seen below...

Lidar version	LIDARTYPE value
YDLIDAR G6	"ydlidar_g6"

slam_type

SLAM的算法，其对应值如下表。The algorithm of the SLAM, and the corresponding values can be seen below...

SLAM algorithm	SLAMTYPE value
Gmapping	"gmapping"
Cartographer	"cartographer"
slam_toolbox	"slam_toolbox"

base_type

Leo底盘驱动方式，其对应值如下表。Leo chassis drive mode, and the corresponding values can be seen below...

Driver mode	LEO_DRIVER value
Diff	"diff"

arm_type_tel

机械臂的型号，其对应值如下表。The model type of arm, and the corresponding values can be seen below...

Arm version	LEO_DEVICE value
AUBO_ES3	"aubo_ES3"
None	"None"

robot_ip

机械臂的IP地址，其对应值如下表。The ip address of arm, and the corresponding values can be seen below...

Ip address	DEVICE_IP value
192.168.47.101	"192.168.47.101"
None	"None"

功能展示 Function Display

1. Leo 跟随 Leo-Follower

cd leo_agv
source install/setup.bash

ros2 launch leo_follower leo_follower.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3' robot_ip:='192.168.47.101'

• camera_type_tel : 填写对应摄像头型号。 camera_type_tel fill in the corresponding camera model
• lidar_type_tel : 填写对应激光雷达型号。 lidar_type_tel fill in the corresponding LiDAR model
• base_type : 填写对应底盘驱动方式。 base_type fill in the corresponding chassis drive mode
• enable_arm_tel : 是否启动机械臂。 enable_arm_tel activate the robotic arm
• arm_type_tel : 填写对应机械臂型号。 arm_type_tel fill in the corresponding model of the robotic arm
• robot_ip : 填写对应机械臂有线IP地址。 robot_ip fill in the corresponding IP address of the robotic arm

2. Leo 2D建图 Leo -SLAM-2DMapping

cd leo_agv
source install/setup.bash

ros2 launch leo_slam_transfer start_build_map_gmapping.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6'  base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_gmapping.rviz'

3. Leo-RtabMap建图 Leo-RtabMap-Mapping

cd leo_agv
source install/setup.bash

ros2 launch leo_rtab_map start_rtabmap_rgbd_sync.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' localization:='false' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_rtabmap.rviz'

4. Leo导航 Leo-Navigation

cd leo_agv
source install/setup.bash

ros2 launch leo_navigation2 start_leo_navigation2.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_navigation2.rviz'