Xbot ROS Controllers Liroboto tse Nyenyane
“
Litlhaloso
- Mehlala: Xbot – Model A, Xbot – Model M, Xbot
4WD - Khomphutha ea ROS: Raspberry Pi5 8G, Jetson Orin
Nano 8G, kapa Orin NX 8G - Taolo ea Boemo bo Tlase: Letlapa la STM32
- LiDAR: LS M10P - sebaka sa limithara tse 30
- Khamera e tebileng: Khamera e tebileng ea Astra
- Software System: ROS 2 Humble ho Ubuntu, MiROS
Sesebelisoa sa Mananeo sa Visual ROS, Lisebelisoa tsa Mobile - Boemo: Xbot Model A - 289x195x185 limilimithara, Xbot
Mohlala oa M - 255x235x156 limilimithara, Xbot 4WD - 255x220x186 limilimithara - Boima ba 'mele: Xbot Model A – 3.3 kg, Xbot Model M –
4.2 lik'hilograma, Xbot 4WD - 4 lik'hilograma - Lekhetho: 4 lik'hilograma
- Boholo ba Lebili (Bophara): Xbot Model A - 65 mm,
Xbot Model M - 75 mm, Xbot 4WD - 65 mm - Lebelo le Leholo: 1m/s
- Phepelo ea motlakase: 12V, 5100 mAh betri, 2A
tjhaja - Bophelo ba Battery: Lihora tse 5 ntle le mojaro, lihora tse 3.5
ka boima ba 1kg - Karo-karolelano ea likoloi le Phokotso: Lisebelisoa tsa tšepe tsa MG513
Phokotso Motor - Encoder: 500-line AB mohato o phahameng oa ho nepahala GMR
encoder - I/O Interface: CAN, serial Ports, USB,
HDMI - Remote Control: Lisebelisoa tsa iOS/Android, tse se nang mohala
PS2, MiROS & ROS
Litaelo tsa Tšebeliso ea Sehlahisoa
1. Setupo le Kopano
Latela litaelo tsa kopano tse fanoeng bukeng ea mosebelisi ho
seta Xbot ea hau hantle.
2. Ho Matlafatsa
Netefatsa hore betri e tjhajilwe ka ho lekaneng pele o bulela
Xbot e sebelisa sesebelisoa sa motlakase.
3. Mekhoa ea ho sebetsa
Xbot e fana ka litsamaiso tse fapaneng tsa ho khanna tse ipapisitseng le mohlala. Khetha
mokhoa o nepahetseng oa ho khanna bakeng sa tšebeliso eo u e rerileng.
4. Remote Control
Sebelisa mekhoa e fanoeng ea taolo e hole joalo ka iOS/Android
Lisebelisoa kapa Wireless PS2 bakeng sa ho laola Xbot.
Lipotso tse atisang ho botsoa (FAQ)
1. Ke mefuta efe e fapaneng ea Xbot e fumanehang?
Xbot e fumaneha ka mefuta e meraro: Model A e nang le Ackerman Drive,
Mohlala oa M o nang le Mecanum Drive, le 4WD e nang le 4 Wheel Drive.
2. Bophelo ba betri ea Xbot ke bofe?
Xbot e na le bophelo ba betri ba lihora tse ka bang 5 ntle le moroalo
le lihora tse ka bang 3.5 ka boima ba 1kg.
"`
MIROBOT
www.mirobot.ai
Buka ea mosebelisi ea Xbot
Mongoli: Wayne Liu 26 Hlakola 2025
Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
MIROBOT
www.mirobot.ai
TAFOLE EA LIKATENG
1. Likarolo tsa Bohlokoa 2. Litlhaloso tsa Sehlahisoa 3. Kenyelletso ho Batsamaisi ba ROS 4. Sistimi ea Sensing: LiDAR & Depth Camera 5. Boto ea STM32 (Motor Control, Power Management & IMU) 6. Tsamaiso ea Tsamaiso le Ho khanna 7. Ts'ebetso ea Tele-operation 8. MiROS Visual Programming 9. ED2 Reinstall Humbler 10 Humbler.
Summary Xbot ke roboto ea thuto le lipatlisiso e thehiloeng ho ROS (Robot Operating System) bakeng sa bafuputsi ba liroboto, barupeli, liithuti le bahlahisi.
Xbot e loketse ba qalang ba ROS ka theko e tlase, moralo o kopaneng le sephutheloana se seng se loketse ho ea. Xbot hape ke sethala se tiileng sa Autonomous Mobile Robot (AMR) bakeng sa merero ea thuto ea liroboto le lipatlisiso.
Xbot e na le buildin ROS Controller, LiDAR, Depth Camera, STM32 Motor/Power/IMU Controller le chassis ea tšepe e nang le lisebelisoa tse tharo tse fapaneng tsa ho khanna.
Ho ipapisitsoe le litsamaiso tse fapaneng tsa ho khanna, Xbot e tla le mefuta e meraro:
Xbot Model A – Ackerman Drive Xbot Model M – Mecanum Drive Xbot 4WD – 4 Wheel Drive
Xbot e tla le li-control tse tsebahalang tsa ROS tse kang:
· Jetson – Orin Nano · Jetson – Orin NX · Raspberry Pi 5
Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
MIROBOT 1. Likaroloana tsa Bohlokoa
www.mirobot.ai
Mefuta ea Xbot - Mohlala A
Setšoantšo
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Xbot - Mohlala oa M Xbot 4WD
www.mirobot.ai
2. Litlhaloso tsa Sehlahisoa Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
Xbot
www.mirobot.ai
Mohlala A
Mohlala oa M
4WD
ROS Computer Low Level Controller LiDAR Depth Camera Software System Dimension
Weight Payload Wheel Size (Diameter) Max Speed Power Supply Battery Life Motor le Reduction Ratio Encoder I/O Interface Remote Control
Raspberry Pi5 8G, Jetson Orin Nano 8G kapa Orin NX 8G
Letlapa la STM32
LS M10P - sebaka sa limithara tse 30
Khamera e tebileng ea Astra
ROS 2 Humble on Ubuntu, MiROS Visual ROS Programming Tool, Mobile Apps
289x195x185 limilimithara 3.3 lik'hilograma
255x235x156 limilimithara 4.2 lik'hilograma
255x220x186 limilimithara
4 lik'hilograma
4 lik'hilograma
65 limilimithara
75 limilimithara
65 limilimithara
1m/s
12V, 5100 mAh betri, tjhaja ea 2A
Lihora tse 5 ntle le mojaro, lihora tse 3.5 tse nang le boima ba 1kg
MG513 Metal Gear Phokotso Motor
500-line AB phase e khouto e phahameng ka ho fetesisa ea GMR
CAN, Serial Ports, USB, HDMI
Lisebelisoa tsa iOS/Android, Wireless PS2, MiROS & ROS
Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
www.mirobot.ai
3. Kenyelletso ea Batsamaisi ba ROS
Ho na le mefuta ea 3 ea ROS Controllers e fumanehang bakeng sa ho sebelisoa le Xbot e thehiloeng sethaleng sa Nvidia Jetson le Raspberry Pi 5. Jetson Orin Nano e loketse bakeng sa thuto le lipatlisiso. Jetson Orin NX e sebelisoa hangata ho prototyping le lits'ebetsong tsa khoebo. Raspberry Pi 5 ke sethala sa Xbot se theko e phahameng ka ho fetisisa.
Tafole e latelang e bonts'a liphapang tse kholo tsa tekheniki lipakeng tsa balaoli ba fapaneng ba fumanehang ho tsoa ho MiRobot. Liboto tsena ka bobeli li lumella komporo ea boemo bo holimo 'me li loketse lits'ebetso tsa liroboto tse tsoetseng pele joalo ka pono ea khomphutha, thuto e tebileng le moralo oa motsamao.
ROS Controller CPU
GPU
Computing Power Memory USB Ports HDMI Ports
Raspberry Pi 5
Jetson Orin Nano
Jetson Orin NX
ARM Cortex-A76 64bit@2.4GHz Quadcore
ARM Cortex-A57 64bit@1.43GHz Quadcore
ARM Cortex-A78AE v.82 64bit 1.5MB L2+4MB L3
VideoCore VII @800MHz 128-core MaxWell @921 32 Tensor Core, 1024
MHz
NVIDIA ea mantlha Ampere
GPU @765 MHz
0.8TOPS (FP16)
LIHLOOHO 0.5
70 LIHLOOHO
8GB
8GB
8GB
2 USB 3.0 + 2 USB 2.0 4 USB 3.0
E fumaneha
E fumaneha
3 USB 3.0 + 1 USB 2.0 + 1 Mofuta oa C
E fumaneha
4. Sensing System: LiDAR & Depth Camera
M10 Leishen LSLiDAR e kentsoe mefuta eohle ea Mecabot. Li-LiDAR tsena li fana ka mefuta e fapaneng ea tlhahlobo ea likhato tse 360 le temoho ea tikoloho 'me li ithorisa ka moralo o kopaneng le o bobebe. Ba na le tekanyo e phahameng ea Signal Noise Ratio le ts'ebetso e ntle haholo ea ho lemoha linthong tse phahameng / tse tlase 'me ba sebetsa hantle maemong a khanyang a matla. Li na le sebaka sa ho lemoha sa limithara tse 30 le maqhubu a scan a 12Hz. LiDAR ena e hokahana ka mokhoa o ts'oanelang ho Mecabots, ho netefatsa hore ts'ebeliso eohle ea 'mapa le ea ho sesa e ka fihlelleha habonolo morerong oa hau.
Tafole e ka tlase ke letšoao har'a mefuta e 3 e fapaneng ea LiDAR:
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Ho feta moo, li-Xbots tsohle li na le khamera ea Orbbec Astra Depth Camera, e leng khamera ea RGBD. Khamera ena e ntlafalitsoe bakeng sa ts'ebeliso ea nako e telele ho kenyelletsa taolo ea boitšisinyo, ho lata marapo, tlhahlobo ea 3D le nts'etsopele ea maru. Tafole e latelang e akaretsa likarolo tsa tekheniki tsa khamera e tebileng.
5. Boto ea STM32 (Taolo ea Motlakase, Tsamaiso ea Matla & IMU) Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
www.mirobot.ai Boto ea STM32F103RC ke "micro-controller" e sebelisoang ho li-Xbots tsohle. E na le ts'ebetso e phahameng ea ARM Cortex -M3 32-bit RISC core e sebetsang ka maqhubu a 72MHz hammoho le mehopolo e kentsoeng ka lebelo le holimo. E sebetsa ho -40 ° C ho ea ho +105 ° C, e lumellana le lisebelisoa tsohle tsa robotiki maemong a leholimo a lefatše. Ho na le mekhoa ea ho boloka matla e lumellang moralo oa lisebelisoa tse fokolang matla. Tse ling tsa lits'ebetso tsa microcontroller ena li kenyelletsa: li-drive tsa makoloi, taolo ea ts'ebeliso, ts'ebeliso ea liroboto, lisebelisoa tsa bongaka le tse tšoaroang ka letsoho, lisebelisoa tsa PC le lipapali, sethala sa GPS, lits'ebetso tsa indasteri, li-intercom tsa video le li-scanner.
Copyright © 2025 MiRobot. Litokelo tsohle li sirelelitsoe.
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Lethathamo la lintlha tsa STM32F103RC
Memories Clock, Reset and Supply Management
Matla a DMA Debug Mode I/O likoung
Lisebelisoa tsa nako
Sehokelo sa Puisano
Likaroloana
ARM32-bit Cortex M3 CPU
Lebelo le phahameng ke 72 MHz
512 KB ea memori ea Flash
64kB ea SRAM
2.0 ho 3.6 V phepelo ea kopo le I/Os
Mekhoa ea ho Robala, ea Emisa le ea Standby
V phepelo ea RTC le li-backups
BATHO
12-mocha oa DMA molaoli
SWD le JTAG likhokahano
Cortex-M3 E kenyellelitsoe Trace Macrocell
Boema-kepe ba 51 I/O (e khonahala ho li-vector tse 16 tse sitisang kantle le tse mamellang 5V)
Li-timers tsa 4 × 16-bit
2 x 16-bit control motor PWM timers (ka ho ema ha tšohanyetso)
2 x watchdog timers (e ikemetseng le Window)
Sebali sa nako ea SysTick (24-bit downcounter)
2 x 16-bit tsa motheo tsa nako ea ho khanna DAC
USB 2.0 sehokelo se felletseng sa lebelo
Sehokelo sa SDIO
Khokahano ea CAN (2.0B E sebetsa)
6. Setaele le Tsamaiso ea ho khanna
Sistimi ea Tsamaiso le Ho khanna e kopantsoe le moralo le kaho ea Xbot. Ho ipapisitse le mofuta o rekiloeng, e tla ba lebili la 2 kapa 4 wheel drive, ka likhetho tse peli tse loketseng merero e fapaneng ea lipatlisiso le nts'etsopele. Mabili a li-Xbots tsohle ke mabili a mecanum a omnidirectional a nang le mefuta eohle ntle le Xbot e tloaelehileng e kenyelletsang sistimi e ikemetseng ea ho emisoa. Lelapa la Xbot la liroboto li loketse mefuta e fapaneng ea lipatlisiso le lits'ebetso tsa khoebo tse etsang hore e be roboto e phethahetseng bakeng sa projeke ea hau e latelang. Setšoantšo sa Moralo: Xbot - Mohlala A
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Xbot 4WD
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7. Tele-operation Ho na le mekhoa e 4 ea ho sebelisa roboto ka mohala: 7.1 E laoloa ke molaoli oa PS2:
8.1.1. Hokela PS2 molaoli ho PCB boto 8.1.2. Emela ho fihlela letšoao le fetoha le khubelu ho molaoli ebe o tobetsa konopo ea Qala. 8.1.3. Ka pcb boto skrine, sutumelletsa le letšehali joystick pele le fetola ho tloha ros ho ps2 mokgwa wa taolo ya. Setšoantšo se latelang se bontša mekhoa e 'meli e fapaneng ea taolo: ROS kapa PS2:
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7.2 E laoloa ke ros2 node le keyboard 7.2.1. Fetola mokhoa oa ho laola ho ros 7.2.2. Etsa bonnete ba hore ho hlahisa roboto ea sebetsa (sheba karolo ea 9) 7.2.3. Etsa taelo ena: python3 ros2/src/wheeltec_robot_keyboard/wheeltec_robot_keyboard/wheeltec_keyboard.py 7.2.4. Ntle le moo, o ka tsamaisa taelo ena: ros2 run wheeltec_robot_keyboard wheeltec_keyboard
7.3 E laoloa ke ros2 node le USB A controller 7.3.1. Hokela selaoli sa USB A 7.3.2. Fetola mokhoa oa ho laola ho ros 7.3.3. Etsa bonnete ba hore ho hlahisa roboto ea sebetsa (sheba karolo ea 9) 7.3.4. Etsa taelo ena: ros2 qala wheeltec_joy wheeltec_joy.launch.py
7.4 E laoloa ke Mobile App ka Wifi kapa khokahanyo ea Bluetooth Etela Seteishene sa App sa Roboworks websaete ebe u ea karolong ea Remote Control Mobile Apps ho khoasolla Mobile App bakeng sa mohala oa hau:
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8. MiROS Visual Programming MiROS ke sesebelisoa sa pono sa ROS (Robot Operating System) se thehiloeng marung. ROS e thehiloe ho Linux mme e hloka tsebo ea mananeo ho C/C++ kapa Python. MiROS e thusa basebelisi ba Mac/Windows ho nts'etsapele mananeo a ROS ka ho hula le ho theola likhoutu ntle le tlhoko ea ho kenya Linux VM (Virtual Machine). 8.1 Kenya Docker Desktop Dockerization ke o mong oa melao-motheo ea meralo ea MiROS. Etela ka tlase webSebaka sa marang-rang ho khoasolla le ho kenya sesebelisoa sa hau sa Docker Desktop: https://www.docker.com/products/docker-desktop/ 8.2 Kenya MiROS App Kamora ho kenya Docker Desktop, etela tse ka tlase. websaete ea ho khoasolla le ho kenya app ea hau ea MiROS e fapaneng. Ka kopo etsa bonnete ba hore u khetha ho lokisa installer ho ea ka komporo ea hau ea CPU. Khoasollo webSebaka sa marang-rang se mona: https://www.mirobot.ai/downloadmiros Hang ha u atlehile ho khoasolla MiROS komporong ea hau, u ka fumana sephutheloana sa MiROS foldareng ea hau ea khomphuta ea hau ka lets'oao le kang lena:
Ho kenya MiROS, tobetsa habeli feela ho kenya MiROS. Hang ha ts'ebetso e felile, u tla fumana sesebelisoa sa MiROS se hlaha ho Desktop ea hau kapa Folder ea Kopo ea hau. Ho qala MiROS, latela mehato e ka tlase: 1. Qala Docker Desktop App. 2. Qala MiROS App.
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www.mirobot.ai 3. U tla bona fensetere ea Terminal e hlaha e bonts'a MiROS e hula ROS le Ubuntu ba eona.
setšoantšo ho tloha Cloud ho ea ho Docker ea hau. Sekrine sa komporo ea hau se ka shebahala joalo ka setšoantšo se bontšitsoeng ka tlase:
Ts'ebetso e kaholimo e tla nka metsotso e ka bang 3 ~ 5. Hang ha ts'ebetso ena e felile, komporo ea hau ke ea kamehla web Sebatli se tla qala MiROS websebaka. BOHLOKOA Nako le nako ha u qala MiROS ho Mac kapa Windows ea hau, u lokela ho qala Docker Desktop pele. Haeba u kentse MiROS ka katleho, Docker Desktop ea hau e lokela ho bonts'a setšoantšo sa docker se ka tlase karolong ea hau ea Litšoantšo e bontšitsoeng ka tlase:
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Haeba oa hau web Leha ho le joalo, sebatli se phatlalalitse MiROS website is not loading and the web sebatli ha se na letho, u ka kenya tse ka tlase URL ho kenya MiROS websebaka:
localhost:8000 Hang ha u bona leqephe le ka tlase la ho kena la MiROS, u kentse le ho tsebisa MiROS ka katleho.
Haeba u le lekhetlo la pele u sebelisa MiROS, ka kopo ingolise ak'haonte ea mosebelisi pele. Ho ingolisa ho MiROS ho tla nolofalletsa Litšebeletso tse latelang tsa Cloud: · Boloka le ho hokahanya merero ea hau ho MiROS Cloud. · Ho fihlella merero ea hau ea MiROS ka efe kapa efe web libatli tsa likhomphutha life kapa life kapa liroboto. · Romella khoutu ea hau ea ROS likhomphutha life kapa life kapa lirobotong. · Tobetsa khoutu ea hau ea morao-rao polokelong ea hau ea GitHub ho tsoa komporong efe kapa efe kapa lirobotong. Hang ha u kena ho MiROS, u tla lula ho Mookameli oa Morero o bontšitsoeng ka tlase: 8.3 Mookameli oa Morero Qala ka thempleite Haeba mofuta oa roboto ea hau e thathamisitsoe ho e 'ngoe ea li-template, u ka khetha template e nepahetseng 'me u tsoele pele ho theha Sebaka sa Mosebetsi se secha bakeng sa morero oa hau. Ka ho khetha template e nepahetseng, morero oa hau o tla qala ka liphutheloana tsohle tsa ROS tse kentsoeng pele ho roboto ea hau.
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BOHLOKOA Haeba u theha Sebaka se secha sa Mosebetsi ka ho khetha template ea liroboto, liphutheloana tsa ROS tseo u tla li etsa le liphutheloana tsa ROS tsa feme kaofela li bolokiloe 'me li tsamaisoa ho MiROS Cloud le setshelo sa docker khomphuteng ea hau ea lehae, eseng roboto ea hau. O ka hokela roboto ea hau nakong ea nts'etsopele ea projeke ka ho ngolisa lihlooho kapa lingoliloeng kapa ho qala ho qala files ho roboto ea hau u le hole le MiROS ho komporo ea hau ea lehae. Software ea ROS e robotong ea hau ha e amehe nakong eohle ea nts'etsopele ea projeke ea hau ho MiROS ho fihlela o romella khoutu ea hau ho roboto ea hau ebe oa e bokella. Qala ho tloha qalong
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Haeba roboto ea hau e sa thathamisoa e le e 'ngoe ea litempele, u tla hloka ho iketsetsa morero ho tloha qalong ka ho tobetsa konopo e khubelu ea sefapano. Ha o ntse o theha projeke ea hau ho tloha qalong, o ntse o ka kenya liphutheloana tsa ROS ho tloha robotong ea hau ho ea MiROS. webleqephe. U tla ithuta ka lintlha tse qaqileng khaolong e latelang. 8.4 Mission Control Mission Control ke setsi sa hau sa taolo ho beha leihlo, ho buisana le ho laela roboto ea hau e le tikolohong kapa tikolohong e etsisitsoeng. Setšoantšo se ka tlase ke sebopeho sa mosebelisi sa Mission Control:
Ho na le likarolo tse 3 tsa mantlha tsa Taolo ea Mosebetsi: · Tool Bar - The Tool Bar e na le likonopo tse latelang tsa tšebetso:
· ROS Canvas - phihlello ea tikoloho ea mananeo e thehiloeng ho GUI. · Khoutu View – fihlella tikoloho ya mananeo a khoutu ya motheo. · RQT – fihlella sesebelisoa sa ROS RQT. · Simulator - fihlella li-simulator tsa ROS joalo ka Gazebo le Webots. · Visualiser - fihlella lisebelisoa tsa pono ea ROS joalo ka Rviz le Foxglove.
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· Sync to Git - hokela akhaonteng ea hau ea GitHub 'me u ikamahanye le li-repsositories tsa hau tsa GitHub. · Khoasolla Khoutu - khoasolla khoutu ea hau ea MiROS e hlahisitsoeng ho komporo ea hau ea lehae. · Hokela ho Robot - konopo ea ho tsosa khokahano lipakeng tsa MiROS web interface le roboto ea hau ka marang-rang a lehae a Wifi. · Qala Files – romela ho qala file litaelo ho roboto ea hau ka khokahano ea ssh e sa feleng. 8.5 Khokahano ho Robot MiROS e hokahana le roboto ea hau ka likhokahano tsa ssh tsa kamehla. Ho na le litlhokahalo tse tharo bakeng sa ho boloka khokahano ea kamehla ea ssh lipakeng tsa MiROS websebaka le roboto ea hau: · Xbot IP: 192.168.0.100 · Lintlha tsa Mosebelisi oa SSH:
· Lebitso la mosebelisi: wheeltec · Password: dongguan · Kenya tsela ea setup.bash file:
/home/wheeltec/wheeltec_ros2/install/setup.bash
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Kamora ho theha khokahano lipakeng tsa MiROS e sebetsang komporong ea hau ea lehae le roboto ea hau, o ka etsa liketso tse latelang:
· O ka romella litaelo tsa ho qala ho tsoa ho Launch ea hau File tafole ho MiROS ho roboto ea hau. · U ka fumana liphutheloana tsohle tsa ROS le melaetsa e sebetsang ho tloha ho roboto ea hau ho ea ho MiROS. · O ka leka khoutu ea hau le hore na roboto ea hau e sebetsa joang ka nako ea nnete. Ho hokela roboto ea hau, latela mehato e latelang:
1. Tobetsa ka "Connect to Robot" konopo ka holimo le letona hukung ya segokanyimmediamentsi sa sebolokigolo Control. 2. U tla bona skrini se latelang ho kenya IP ea roboto ea hau, domain ID le ssh login information. BOHLOKOA 1. O lokela ho kenya setup.bash kapa local_setup.bash file robotong ea hau. 2. Haeba morero oa hau o itšetlehile ka template ea roboto e teng, ha ho hlokahale hore u kenye liphutheloana tsohle tsa ROS ho tloha roboto ea hau ho ea ho MiROS hape. U lokela ho boloka khetho ea "Se ke oa kenya liphutheloana" kaholimo ho konopo ea "Connect" e putsoa. Haeba u qala morero oa hau ho tloha qalong, u ka fetola khetho ho "Laola liphutheloana tsohle ho tsoa ho roboto". Ka mor'a hore u hokahane le roboto ea hau ka katleho, u tla bona lintho tse latelang li kenyelelitsoe morerong oa hau oa MiROS: · IP ea roboto ea hau e bonts'oa k'honeng e kaholimo ho le letona la Taolo ea Mosebetsi oa hau. · Qalo ea hau File tafole e lokela ho tlatsoa ka ho qala files kopitsoa ho roboto ea hau. · Kena ka har'a ROS Canvas, u tla bona liphutheloana tsa ROS tsa roboto ea hau kaofela li hlahisoa 'me li ngotsoe ka bofubelu.
8.6 Ho qala Files A Launch File ho ROS ke XML file e sebelisetsoang ho iketsetsa mokhoa oa ho qala li-node tse ngata le ho theha litlhophiso tsa tsona. Tsena files etsa hore ho be bonolo ho laola litsamaiso tse rarahaneng tsa liroboto ka ho qala li-node tse ngata, ho beha liparamente, le ho hlalosa hore na li-node li sebelisana joang, kaofela ka taelo e le 'ngoe. Mona ke mesebetsi ea bohlokoa ea ho qala ROS file: 1. Qala Li-Node tse ngata: Ho e-na le ho qala node ka 'ngoe ka letsoho, qala file e ka qala li-node tse 'maloa ka nako e le' ngoe. 2. Beha Li-Parameters: U ka hlalosa le ho beha li-parameter tse khethehileng tsa lefats'e kapa tsa node bakeng sa tsamaiso ea ROS. 3. Remap Lihlooho: Qala files lumella ho nchafatsoa ha mabitso a lihlooho hore li-node li tsebe ho buisana le haeba li lebelletse mabitso a lihlooho tse fapaneng.
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4. Mosebetsi oa Sebaka sa Mabitso: E ka hlalosa libaka tsa mabitso ho hlophisa li-node le lihlooho ka mokhoa o hlophisitsoeng. 5. Kenyelletsa Tse ling Launch Files: Litsamaiso tse rarahaneng li ka hlophisoa ka ho kenyelletsa tlhahiso e 'ngoe files.
Mohlala oa motheoample la ho qala file (`mohlalaample.launch`) e shebahala tjena:
"`xml
"`
Phatlalatso ena file e qala li-node tse peli (`node1` le `node2`), e beha liparamente, 'me e boele e ntlafatse sehlooho bakeng sa `node2`. U ka e tsamaisa u sebelisa taelo e latelang ho ROS 2:
roslaunch package_name example.hlakola
Ho sebelisa ho qala files e nolofatsa tsamaiso ea liroboto tse kholo le tse rarahaneng ho ROS. Ho Taolo ea Maiketsetso, Qalo Fileli hlahisoa ka har'a tafole view e bonts'itsoeng joalo ka skrini se ka tlase:
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The Launch File tafole e na le Launch File Lebitso, Lebitso la Sephutheloana moo ho file ke ea, tlhaloso e khuts'oane le konopo ea "Launch" ho romella taelo ea ho qala roboto ea hau kapele. BOHLOKOA Bakeng sa ho romella taelo ea ho qala ho tsoa ho projeke ea MiROS ho roboto ea hau le ho boloka khokahano ea ssh e sa feleng, litlhoko tse ka tlase tse hlokahalang li lokela ho fihlelleha:
· Khomphuta ea hau ea lehae e sebelisang MiROS le roboto ea hau e lokela ho hokeloa ho netweke e tšoanang ea Wifi ea lehae.
· U lokela ho tseba lintlha tsa ho kena tsa ssh tsa roboto ea hau ho kenyelletsa le IP ea eona. · Roboto ea hau e kentse mofuta oa MiROS Linux. Ntle le MiROS e kentsoeng robotong ea hau, u ntse u ka khona
hokela ho roboto ea hau ho tsoa ho MiROS. Leha ho le joalo, khokahano ea ssh ha e fetohe. 9. ROS 2 Ho Qala ka Potlako
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Bakeng sa basebelisi ba Linux ba khethang mela ea litaelo ho e-na le lenaneo la pono, u ka latela taelo e ka tlase ho qala Xbot ho ROS 2. Ha roboto e qala ho tsamaisoa, e laoloa ke ROS ka ho feletseng. Ho bolelang, boto ea taolo ea chassis ea STM32 e amohela litaelo tse tsoang ho ROS 2 Controller joalo ka Jetson Orin. Ho seta ha pele ho potlakile ebile ho bonolo, ho tsoa ho PC ea hau e amohelang (Ubuntu Linux e khothalelitsoe) hokela ho Wi-Fi hotspot ea roboto. Password ka ho sa feleng ke "dongguan". E latelang, hokela ho roboto u sebelisa SSH ka terminal ea Linux, aterese ea IP ke 192.168.0.100, password ea kamehla ke dongguan. ~$ ssh wheeltec@192.168.0.100 Ka phihlello ya terminal ho roboto, o ka ya ho foldara ya sebaka sa mosebetsi sa ROS 2, tlasa "wheeltec_ROS 2" Pele o etsa mananeo a teko, etela ho wheeltec_ROS 2/turn_on_wheeltec_robot/ le ho fumana wheel. tlhophiso ea peripherals. Hona joale o khona ho lekola ts'ebetso ea roboto, ho qala ts'ebetso ea taolo ea ROS 2, matha: "roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch" ~$ ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch mofuta o fetotsoeng oa mofuta o tummeng oa ROS 2 Turtlebot example. Mofuta (taolo e eketsehileng ea tele-op e fumaneha karolong ea 8 ): "ros2 run wheeltec_robot_keyboard wheeltec_keyboard"
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10. Liphutheloana tsa ROS 2 tse kentsoeng pele
Ka tlase ke liphutheloana tse latelang tse shebaneng le basebelisi, athe liphutheloana tse ling li ka ba teng, tsena ke tse its'etlehang feela. turn_on_wheeltec_robot
Sephutheloana sena se bohlokoa bakeng sa ho nolofalletsa tšebetso ea liroboto le puisano le molaoli oa chassis. Mongolo oa mantlha "turn_on_wheeltec_robot.launch" o tlameha ho sebelisoa buti ka 'ngoe ho lokisa ROS 2 le selaoli. wheeltec_rviz2 E na le ho qala files ho qala rviz ka tlhophiso ea tloaelo bakeng sa Pickerbot Pro. wheeltec_robot_slam SLAM sephutheloana sa 'mapa le sephutheloana sa lehae se nang le tlhophiso ea tloaelo bakeng sa Pickerbot Pro. wheeltec_robot_rrt2 Ho hlahloba ka potlako algorithm ea sefate - Sephutheloana sena se thusa Pickerbot Pro ho rera tsela e eang sebakeng seo e se batlang, ka ho qala libaka tsa ho hlahloba. wheeltec_robot_keyboard Sephutheloana se bonolo sa ho netefatsa ts'ebetso ea liroboto le ho laola ho sebelisa keyboard, ho kenyelletsa le ho tsoa ho PC e amohelang sebaka se hole. wheeltec_robot_nav2 ROS 2 Navigation 2 node sephutheloana. wheeltec_lidar_ros2 ROS 2 Lidar sephutheloana bakeng sa ho lokisa Leishen M10/N10. wheeltec_joy Joystick control package, e na le ho qala files bakeng sa li-node tsa Joystick. simple_follower_ros2 Ntho ea mantlha le mola o latelang mokhoa oa ho sebelisa laser scan kapa kh'amera e tebileng. ros2_astra_camera Pakete ea kh'amera e tebileng ea Astra e nang le bakhanni le ho qala files.
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Litokomane / Lisebelisoa
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MIROBOT Xbot ROS Controllers Liroboto tse Nyenyane [pdf] Bukana ea Mosebelisi Xbot, Xbot ROS Controllers Liroboto tse Nyenyane, Balaoli ba ROS Liroboto tse Nyenyane, Balaoli Liroboto tse Nyenyane, Liroboto tse Nyenyane. |