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2024赛季工程入门文档.md

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2024赛季工程入门文档

代码部署

建议先在电脑上安装好Clion、git等工具

  • 配置GitHub ssh密钥

    队内pull、push代码到仓库以及连车传代码均使用ssh，在本地配置好ssh之后才可以进行其他内容

    参考文档1(CSDN)

    参考文档2(GitHub文档)

  • 配置rm_ws

    rm_ws是对内代码统一使用的工作空间，在home目录下新建一个名为rm_ws的工作空间

    参考文档(ROS wiki)

  • 从仓库pull代码

    配置好Clion及rm_ws后可以开始部署代码了，以下是工程正在使用的仓库：

    一定要使用ssh来clone仓库

​ rm_manual：实现键鼠操作

​ rm_config：放参数的地方，也是最常修改的地方

​ rm_engineer：工程专用的包，主要实现.action类型的消息以及和manual的交互

​ rm_bringup：开机自启，硬件映射

​ rm_control：一些代码中可用的工具，比如滤波器，从yaml拿参数等

​ rm_description：放置仿真用的stl模型和urdf文件

​ rm_controllers：各种控制器

​ 把上述仓库全部fork后pull到本地./rm_ws/src中

加粗的两个仓库是最常用的

  • 安装软件包所需依赖

    仓库的代码有依赖的其他包，使用rosdep来安装所需依赖，如果没有安装依赖就编译则会报错

    rosdep install --from-paths src --ignore-src -r -y

    rosdep在中国大陆地区因为网络环境问题基本不可用，可以使用代理或搜索rosdep失效的解决方法

调试工具

  • rviz

    mon launch engineer_arm_cofig rviz.launch

  • plotjuggler

    rosrun plotjuggler plotjuggler

  • rqt

    mon launch rqt rqt s

  • moveit_commander

    rosrun moveit_commander moveit_commander_cmdline.py

  • actionlib_tools

    rosrun actionlib_tools axclient.py /engineer_middleware/move_steps

调试流程

  • 连上工程后关闭自启的服务

    工程自启时会自己开一个master，我们调车时需要频繁关闭程序和master来使修改过的程序重新传到参数服务器中

    stop_master
stop_ecat_start

  • 开终端连车，运行程序

    bringup中已经把所有需要的东西都包括在里面了

    roscore
bringup

  • 校准机械臂

    在右开关位于中间时左开关位于上方是校准状态

  • 测试动作组

    连接客户端使用键鼠进行测试或使用moveit_commander对动作进行单独测试

环境配置

  • bashrc

    先修改bashrc，方便后续调试

    vim .bashrc

    直接复制粘贴如下内容

    # ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
*i*) ;;
*) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
# We have color support; assume it's compliant with Ecma-48
# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
# a case would tend to support setf rather than setaf.)
color_prompt=yes
else
color_prompt=
fi
fi

if [ "$color_prompt" = yes ]; then
PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
;;
*)
;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
alias ls='ls --color=auto'
#alias dir='dir --color=auto'
#alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
. ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
if [ -f /usr/share/bash-completion/bash_completion ]; then
. /usr/share/bash-completion/bash_completion
elif [ -f /etc/bash_completion ]; then
. /etc/bash_completion
fi
fi


#export ROS_IP=`ifconfig | grep -Eo 'inet (addr:)?([0-9]*\.){3}[0-9]*' | grep -Eo '([0-9]*\.){3}[0-9]*' | grep -v '127.0.0.1' | grep -v '172.17.0.1'`

#if  test -z "${ROS_IP}"
#then
#        export ROS_IP=`dig +short localhost`
#fi


    net='sw'

if [ "$net" == "sw" ]; then
export ROS_IP='192.168.100.1'
export ROS_MASTER_URI=http://192.168.100.2:11311
elif [ "$net" == "wifi" ]; then
export ROS_IP='192.168.1.16'
export ROS_MASTER_URI=http://192.168.1.194:11311
elif [ "$net" == "local" ]; then
export ROS_IP='127.0.0.1'
export ROS_MASTER_URI=http://127.0.0.1:11311
fi

echo "ROS IP: ${ROS_IP}
ROS Master URI: ${ROS_MASTER_URI}"
export ROBOT_TYPE=engineer
echo "ROBOT_TYPE: ${ROBOT_TYPE}"

alias setcan0='sudo ip link set can0 up type can bitrate 1000000'
alias setcan1='sudo ip link set can1 up type can bitrate 1000000'
alias setcan2='sudo ip link set can2 up type can bitrate 1000000'
alias setcan3='sudo ip link set can3 up type can bitrate 1000000'

alias engineer_client='rosrun actionlib_tools axclient.py /engineer_middleware/move_steps'
alias fishros='wget http://fishros.com/install -O fishros && . fishros'
alias bashrc='vim /home/cch/.bashrc'
alias bash='source /home/cch/.bashrc'
alias engineer_client='rosrun actionlib_tools axclient.py /engineer_middleware/move_steps'
alias rqt_joint='rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller'
export filepath="/etc/apt/"
alias engineer='ssh [email protected]'
alias engineer_w='ssh [email protected]'
alias wired='ssh -o StrictHostKeyChecking=no -l "dynamicx" "192.168.100.2"'
alias insdep='rosdepc install --from-paths src --ignore-src -r -y'
# >>> fishros initialize >>>
source /opt/ros/noetic/setup.bash
# <<< fishros initialize <<<

source /home/cch/rm_ws/devel/setup.bash

# >>> fishros scripts >>>
export PATH=$PATH:/home/cch/.fishros/bin/
# <<< fishros scripts <<<

    保存并退出vim，在终端中输入bash

  • 配置连车SSH

    要使用ssh连接到工程，首先要知道工程的IP地址：浏览器输入192.168.1.1，账号及密码均为admin，在已链接设备中找到engineer，记住其IP地址

    连接到队内WiFi，终端输入 ssh [email protected],弹出提示后输入密码dynamicx

    一切顺利的话，终端开头绿色的字符应该变为dynamicx@engineer

    • ssh免密

      在终端输入ssh-copy-id [email protected],之后再连接工程无需输入密码

    • bashrc配置alias快速连接工程 在bashrc中写入alias engineer='ssh [email protected]',即可输入engineer直接连接工程

  • Clion配置

​ 参考rm-control文档