MIT-RACECAR入门教程-启动

MIT-RACECAR入门教程-启动

说明：

• 介绍如何启动MIT-RACECAR并进行操纵

步骤：

• 开发板连上显示屏，键盘和鼠标，开机进入系统，设置好wifi
• 远程登录开发板

ssh racecar@TX1-IP
password: racecar@mit

• TX1-IP替换为自己TX1开发板实际的IP地址

• 核心启动脚本： 参考脚本

<!-- -*- mode: XML -*- -->
<launch>
  <arg name="racecar_version" default="racecar-v2" />
  <arg name="run_camera" default="false"/>

  <group ns="vesc">
    <!-- joystick node -->
    <include file="$(find racecar)/launch/includes/common/joy_teleop.launch.xml" >
      <arg name="racecar_version" value="$(arg racecar_version)" />
    </include>

    <!-- Spawn MUXs -->
    <include file="$(find racecar)/launch/mux.launch" />

    <!-- start electronic speed controller driver -->
    <include file="$(find racecar)/launch/includes/$(arg racecar_version)/vesc.launch.xml" >
      <arg name="racecar_version" value="$(arg racecar_version)" />
    </include>
  </group>

  <!-- start imu and laser scanner -->
  <include file="$(find racecar)/launch/includes/common/sensors.launch.xml" >
    <arg name="racecar_version" value="$(arg racecar_version)" />
  </include>

  <!-- static transforms, e.g. base_link to imu -->
  <include file="$(find racecar)/launch/includes/$(arg racecar_version)/static_transforms.launch.xml" />

</launch>

• 启动教程：

A.启动游戏杆
B.启动电调VESC
C.启动传感器,比如IMU，激光雷达等
D.设置静态的TF

• 启动脚本

roslaunch racecar teleop.launch

• 通过游戏杆控制小车移动
• 按住DEAD button
• 摆动游戏杆，即可控制移动

参考：

• https://mit-racecar.github.io/2017/01/01/getting-started/