更新代码，删除一些调试代码

src/robot_bringup/launch/robot_bringup.launch

@@ -6,8 +6,7 @@
     这样得出的里程计更为准确.
   Author: corvin
   History:
-    20200716:init this file.
-    20210602:使用串口获取imu模块的数据.
+    20220706:init this file.
 -->
 <launch>
     <!-- (1) startup panda robot urdf description -->

src/robot_navigation/README.md

@@ -1,4 +1,4 @@
-# blackTornadoRobot建图导航功能
+# 建图导航功能
 建图导航功能包，可实现建图导航功能
 
 ### 建图运行方法
@@ -11,7 +11,7 @@ $ roslaunch robot_bringup robot_bringup.launch
 然后运行键盘控制程序
 
 ```sh
-$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+$ rosrun control_robot control_robot.py
 ```
 
 再运行建图程序gmapping
@@ -30,7 +30,7 @@ $ roslaunch robot_navigation view_navigation.launch
 最后保存地图
 
 ```sh
-$ rosrun map_server map_saver -f  ~/blackTornadoRobot/src/robot_navigation/maps/mymap
+$ rosrun map_server map_saver -f  ~/ros_minibot_ws/src/robot_navigation/maps/mymap
 ```
 
 ### 导航运行方法

src/robot_navigation/launch/amcl_ls01d_lidar.launch

@@ -1,67 +0,0 @@
-<!--
-  Description:
-   ls01d lidar to amcl, first roslaunch carebot_bringup.launch, then load map,then startup 
-   ls01d lidar to scan,then roslaunch move_base package, last roslaunch amcl package.
-  History:
-    20180408: init this file.
-    20180411: add first roslaunch carebot_bringup.launch.
--->
-
-<launch>
-  <!-- (1) first roslaunch carebot_bringup.launch -->
-  <include file="$(find carebot_bringup)/launch/carebot_bringup.launch" />
-
-  <!-- (2) Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find carebot_navigation)/maps/mymap.yaml" />
-
-  <!-- (3) Startup leishen ls01d_lidar lidar node -->
-  <include file="$(find ls01d_lidar)/launch/ls01d_lidar.launch" />
-
-  <!-- (4) Startup move_base node -->
-  <include file="$(find carebot_navigation)/launch/move_base.launch" />
-
-  <!-- (5) Run amcl -->
-  <node pkg="amcl" type="amcl" name="carebot_amcl" >
-    <param name="odom_model_type" value="omni"/> #omni wheel mobilebase
-
-    <param name="base_frame_id" value="base_footprint"/>
-    <param name="global_frame_id" value="map" />
-    <param name="odom_frame_id" value="odom_combined" />
-
-    <param name="use_map_topic" value="true" />
-    <param name="odom_alpha5" value="0.1" />
-    <param name="transform_tolerance" value="0.5" />
-    <param name="gui_publish_rate" value="1.0" />
-    <param name="laser_max_beams" value="300" />
-    <param name="min_particles" value="500"/>
-    <param name="max_particles" value="5000"/>
-    <param name="kld_err" value="0.1"/>
-    <param name="kld_z" value="0.99"/>
-
-    <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
-    <param name="odom_alpha3" value="0.2"/>
-    <param name="odom_alpha4" value="0.2"/>
-    <param name="odom_alpha5" value="0.2"/>
-
-    <param name="laser_z_hit" value="0.9"/>
-    <param name="laser_z_short" value="0.05"/>
-    <param name="laser_z_max" value="0.05"/>
-    <param name="laser_z_rand" value="0.05"/>
-    <param name="laser_sigma_hit" value="0.2"/>
-    <param name="laser_lambda_short" value="0.1"/>
-    <param name="laser_model_type" value="likelihood_field"/>
-    <param name="laser_model_type" value="beam"/>
-    <param name="laser_min_range" value="0.14"/>
-    <param name="laser_max_range" value="7.0"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="update_min_d" value="0.2"/>
-    <param name="update_min_a" value="0.5"/>
-    <param name="resample_interval" value="2"/>
-    <param name="transform_tolerance" value="3.0"/>
-    <param name="recovery_alpha_slow" value="0.0"/>
-    <param name="recovery_alpha_fast" value="0.0"/>
-  </node>
-
-</launch>
-

src/robot_navigation/launch/amcl_rplidar_a1.launch

@@ -1,53 +0,0 @@
-<launch>
-  <!-- Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/my_room.yaml" />
-
-  <!-- startup rplidar node -->
-  <include file="$(find robot_navigation)/launch/rplidar.launch" />
-
-  <!-- startup move_base node -->
-  <include file="$(find robot_navigation)/launch/move_base.launch" />
-
-  <!-- Run amcl -->
-  <node pkg="amcl" type="amcl" name="robot_amcl">
-    <param name="odom_model_type" value="omni"/>
-
-    <param name="base_frame_id" value="base_footprint"/>
-    <param name="global_frame_id" value="map"/>
-    <param name="odom_frame_id" value="odom_combined"/>
-
-    <param name="use_map_topic" value="true"/>
-    <param name="odom_alpha5" value="0.1"/>
-    <param name="transform_tolerance" value="0.5" />
-    <param name="gui_publish_rate" value="1.0"/>
-    <param name="laser_max_beams" value="300"/>
-    <param name="min_particles" value="500"/>
-    <param name="max_particles" value="5000"/>
-    <param name="kld_err" value="0.1"/>
-    <param name="kld_z" value="0.99"/>
-    <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
-    <param name="odom_alpha3" value="0.2"/>
-    <param name="odom_alpha4" value="0.2"/>
-    <param name="odom_alpha5" value="0.2"/>
-
-    <param name="laser_z_hit" value="0.9"/>
-    <param name="laser_z_short" value="0.05"/>
-    <param name="laser_z_max" value="0.05"/>
-    <param name="laser_z_rand" value="0.05"/>
-    <param name="laser_sigma_hit" value="0.2"/>
-    <param name="laser_lambda_short" value="0.1"/>
-    <param name="laser_model_type" value="likelihood_field"/>
-    <param name="laser_model_type" value="beam"/>
-    <param name="laser_min_range" value="0.14"/>
-    <param name="laser_max_range" value="7.0"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="update_min_d" value="0.2"/>
-    <param name="update_min_a" value="0.5"/>
-    <param name="resample_interval" value="2"/>
-    <param name="transform_tolerance" value="3.0"/>
-    <param name="recovery_alpha_slow" value="0.0"/>
-    <param name="recovery_alpha_fast" value="0.0"/>
-  </node>
-</launch>
-

src/robot_navigation/launch/amcl_rplidar_a2.launch

@@ -1,54 +0,0 @@
-<launch>
-  <!-- Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find carebot_navigation)/maps/mymap.yaml" />
-
-  <!-- startup rplidar node -->
-  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
-
-  <!-- startup move_base node -->
-  <include file="$(find carebot_navigation)/launch/move_base.launch" />
-
-  <!-- Run amcl -->
-  <node pkg="amcl" type="amcl" name="carebot_amcl">
-    <param name="odom_model_type" value="omni"/>
-
-    <param name="base_frame_id" value="base_footprint"/>
-    <param name="global_frame_id" value="map"/>
-    <param name="odom_frame_id" value="odom"/>
-
-    <param name="use_map_topic" value="true"/>
-    <param name="odom_alpha5" value="0.1"/>
-    <param name="transform_tolerance" value="0.5" />
-    <param name="gui_publish_rate" value="1.0"/>
-    <param name="laser_max_beams" value="300"/>
-    <param name="min_particles" value="500"/>
-    <param name="max_particles" value="5000"/>
-    <param name="kld_err" value="0.1"/>
-    <param name="kld_z" value="0.99"/>
-    <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
-    <param name="odom_alpha3" value="0.2"/>
-    <param name="odom_alpha4" value="0.2"/>
-    <param name="odom_alpha5" value="0.2"/>
-
-    <param name="laser_z_hit" value="0.9"/>
-    <param name="laser_z_short" value="0.05"/>
-    <param name="laser_z_max" value="0.05"/>
-    <param name="laser_z_rand" value="0.05"/>
-    <param name="laser_sigma_hit" value="0.2"/>
-    <param name="laser_lambda_short" value="0.1"/>
-    <param name="laser_model_type" value="likelihood_field"/>
-    <param name="laser_model_type" value="beam"/>
-    <param name="laser_min_range" value="0.14"/>
-    <param name="laser_max_range" value="7.0"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="update_min_d" value="0.2"/>
-    <param name="update_min_a" value="0.5"/>
-    <param name="resample_interval" value="2"/>
-    <param name="transform_tolerance" value="3.0"/>
-    <param name="recovery_alpha_slow" value="0.0"/>
-    <param name="recovery_alpha_fast" value="0.0"/>
-  </node>
-
-</launch>
-

src/robot_navigation/launch/gmapping_ls01d_lidar.launch

@@ -1,58 +0,0 @@
-<!--
-  Description:
-    gmapping with ls01d lidar, first roslaunch carebot_bringup.launch.
-  History:
-    20180411:init this file.
--->
-
-<launch>
-  <arg name="scan_topic"  default="scan" />
-  <arg name="base_frame"  default="base_footprint"/>
-  <arg name="odom_frame"  default="odom"/>
-
-  <!-- first roslaunch carebot_bringup -->
-  <include file="$(find carebot_bringup)/launch/carebot_bringup.launch" />
-
-  <!-- second startup ls01d lidar -->
-  <include file="$(find ls01d_lidar)/launch/ls01d_lidar.launch" />
-
-  <!-- third start gmapping node -->
-  <node pkg="gmapping" type="slam_gmapping" name="simple_gmapping" output="screen">
-      <param name="base_frame" value="$(arg base_frame)"/>
-      <param name="odom_frame" value="$(arg odom_frame)"/>
-      <param name="map_update_interval" value="5.0"/>
-      <param name="maxUrange" value="8.0"/>
-      <param name="sigma" value="0.05"/>
-      <param name="kernelSize" value="1"/>
-      <param name="lstep" value="0.05"/>
-      <param name="astep" value="0.05"/>
-      <param name="iterations" value="5"/>
-      <param name="lsigma" value="0.075"/>
-      <param name="ogain" value="3.0"/>
-      <param name="lskip" value="0"/>
-      <param name="minimumScore" value="50"/>
-
-      <param name="srr" value="0.1"/>
-      <param name="srt" value="0.2"/>
-      <param name="str" value="0.1"/>
-      <param name="stt" value="0.2"/>
-
-      <param name="linearUpdate" value="0.3"/>
-      <param name="angularUpdate" value="0.4"/>
-      <param name="temporalUpdate" value="3.0"/>
-      <param name="resampleThreshold" value="0.5"/>
-      <param name="particles" value="30"/>
-
-      <param name="xmin" value="-5.0" />
-      <param name="ymin" value="-5.0" />
-      <param name="xmax" value="5.0" />
-      <param name="ymax" value="5.0" />
-      <param name="delta" value="0.05" />
-
-      <param name="llsamplerange" value="0.01" />
-      <param name="llsamplestep" value="0.01" />
-      <param name="lasamplerange" value="0.005" />
-      <param name="lasamplestep" value="0.005" />
-  </node>
-</launch>
-

src/robot_navigation/launch/gmapping_rplidar_a1.launch

@@ -1,43 +0,0 @@
-<launch>
-  <param name="use_sim_time" value="false"/>  
-
-  <!-- startup rplidar node -->
-  <include file="$(find robot_navigation)/launch/rplidar.launch" />
-
-  <!-- startup move_base node -->
-  <include file="$(find robot_navigation)/launch/move_base.launch" />
-
-  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">  
-    <param name="odom_frame" value="odom_combined" />
-
-    <param name="map_update_interval" value="5.0"/>
-    <param name="maxUrange" value="7.5"/>
-    <param name="sigma" value="0.05"/>
-    <param name="kernelSize" value="1"/>
-    <param name="lstep" value="0.05"/>
-    <param name="astep" value="0.05"/>
-    <param name="iterations" value="5"/>
-    <param name="lsigma" value="0.075"/>
-    <param name="ogain" value="3.0"/>
-    <param name="lskip" value="0"/>
-    <param name="minimumScore" value="50"/>
-    <param name="srr" value="0.1"/>
-    <param name="srt" value="0.2"/>
-    <param name="str" value="0.1"/>
-    <param name="stt" value="0.2"/>
-    <param name="linearUpdate" value="1.0"/>
-    <param name="angularUpdate" value="0.5"/>
-    <param name="temporalUpdate" value="3.0"/>
-    <param name="resampleThreshold" value="0.5"/>
-    <param name="particles" value="30"/>
-    <param name="xmin" value="-5.0"/>
-    <param name="ymin" value="-5.0"/>
-    <param name="xmax" value="5.0"/>
-    <param name="ymax" value="5.0"/>
-    <param name="delta" value="0.05"/>
-    <param name="llsamplerange" value="0.01"/>
-    <param name="llsamplestep" value="0.01"/>
-    <param name="lasamplerange" value="0.005"/>
-    <param name="lasamplestep" value="0.005"/>
-  </node>
-</launch>

src/robot_navigation/launch/gmapping_rplidar_a2.launch

@@ -1,43 +0,0 @@
-<launch>  
-  <param name="use_sim_time" value="false"/>  
-
-  <!-- startup rplidar node -->
-  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
-
-  <!-- startup move_base node -->
-  <include file="$(find carebot_navigation)/launch/move_base.launch" />
-
-  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">  
-    <param name="map_update_interval" value="5.0"/>  
-    <param name="maxUrange" value="7.5"/>  
-    <param name="sigma" value="0.05"/>  
-    <param name="kernelSize" value="1"/>  
-    <param name="lstep" value="0.05"/>  
-    <param name="astep" value="0.05"/>  
-    <param name="iterations" value="5"/>  
-    <param name="lsigma" value="0.075"/>  
-    <param name="ogain" value="3.0"/>  
-    <param name="lskip" value="0"/>  
-    <param name="minimumScore" value="50"/>  
-    <param name="srr" value="0.1"/>  
-    <param name="srt" value="0.2"/>  
-    <param name="str" value="0.1"/>  
-    <param name="stt" value="0.2"/>  
-    <param name="linearUpdate" value="1.0"/>  
-    <param name="angularUpdate" value="0.5"/>  
-    <param name="temporalUpdate" value="3.0"/>  
-    <param name="resampleThreshold" value="0.5"/>  
-    <param name="particles" value="30"/>  
-    <param name="xmin" value="-5.0"/>  
-    <param name="ymin" value="-5.0"/>  
-    <param name="xmax" value="5.0"/>  
-    <param name="ymax" value="5.0"/>  
-    <param name="delta" value="0.05"/>  
-    <param name="llsamplerange" value="0.01"/>  
-    <param name="llsamplestep" value="0.01"/>  
-    <param name="lasamplerange" value="0.005"/>  
-    <param name="lasamplestep" value="0.005"/>  
-  </node>  
-
-</launch>  
-

src/robot_navigation/launch/rplidar.launch

@@ -1,10 +0,0 @@
-<launch>
-  <node name="rplidarNode"  pkg="rplidar_ros"  type="rplidarNode" output="screen">
-	  <param name="serial_port"      type="string" value="/dev/ttyUSB0"/>
-	  <param name="serial_baudrate"  type="int"    value="115200"/><!--A1/A2 -->
-	  <!--param name="serial_baudrate"   type="int"   value="256000"--><!--A3 -->
-	  <param name="frame_id"          type="string" value="lidar"/>
-	  <param name="inverted"          type="bool"   value="false"/>
-	  <param name="angle_compensate"  type="bool"   value="true"/>
-  </node>
-</launch>

src/robot_navigation/launch/view_navigation_app.launch

@@ -1,9 +0,0 @@
-<!--
-  Used for visualising the turtlebot while building a map or navigating with the ros navistack.
-  
-  Use this version of view_navigation.launch whenever the navigation related topics lay inside
-  an application namespace (that is, navigation was launched by the app manager).
- -->
-<launch>
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/navigation_app.rviz"/>
-</launch>

src/ros_arduino_bridge/README.md

@@ -1 +0,0 @@
-

update_code.sh

@@ -2,9 +2,7 @@
 #  首先将本地所做修改给还原,然后更新代码后,直接编译所有代码.
 # Author: corvin
 # History:
-#  20200717:init this code.
-#  20200724:在命令执行完后增加判断命令执行是否成功.
-#  20210518:在更新服务器代码前,先将本地修改撤销.
+#  20220706:init this code.
 
 #定义各种终端中字符使用的颜色
 green="\e[32;1m"