亚博智能RDK X3 ROBOT机器人项目实例，实现RKD X3 ROBOT的基本运动控制和位姿反馈

功能介绍

亚博智能RKD X3 ROBOT是一款面向机器人开发者和教育生态的智能机器人开发套件。该套件以旭日X3派为核心运算单元，以TogetherROS.Bot为核心机器人操作系统，集成成了建图、导航、人体跟随、手势识别等功能。本项目为亚博智能RKD X3 ROBOT机器人最小功能系统，该系统能够实现RKD X3 ROBOT的基本运动控制和位姿反馈。该项目包含以下三个功能包：

yahboom_sunrise_robot_lib：负责与MCU的基础通信以及命令转换

yahboomcar_base_node：负责更新机器人的Odom和tf信息

yahboomcar_description：负责描述机器人机械机构信息

yahboomcar_bringup：负责机器人的初始化，订阅运动控制话题、发布机器人状态描述话题和IMU信息

物料清单

使用方法

准备工作

参考亚博智能RKD X3 ROBOT组装视频和文档，完成机器人的硬件组装。

安装

通过MobaXterm或者其他终端软件连接机器人

点击NodeHub OriginBot项目右上角快速部署，复制如下命令在RDK的终端中运行，完成人亚博智能RKD X3 ROBOT机器人最小系统安装。

运行

启动机器人

在终端中输入：

运行成功后可看到如下提示

root@ubuntu:~# ros2 launch yahboomcar_bringup yahboomcar_nodehub_bringup_launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-07-15-48-46-154585-ubuntu-4064

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [Mcnamu_driver-1]: process started with pid [4625]

[INFO] [base_node-2]: process started with pid [4627]

[INFO] [imu_filter_madgwick_node-3]: process started with pid [4629]

[INFO] [ekf_node-4]: process started with pid [4631]

[INFO] [joint_state_publisher-5]: process started with pid [4633]

[INFO] [robot_state_publisher-6]: process started with pid [4635]

[INFO] [static_transform_publisher-7]: process started with pid [4637]

[imu_filter_madgwick_node-3] [INFO] [1696664928.206501590] [imu_filter_madgwick]: Starting ImuFilter

[imu_filter_madgwick_node-3] [INFO] [1696664928.222764213] [imu_filter_madgwick]: Using dt computed from messags

[imu_filter_madgwick_node-3] [INFO] [1696664928.222977621] [imu_filter_madgwick]: The gravity vector is kept in.

[imu_filter_madgwick_node-3] [INFO] [1696664928.251886613] [imu_filter_madgwick]: Imu filter gain set to 0.10000

[imu_filter_madgwick_node-3] [INFO] [1696664928.252147777] [imu_filter_madgwick]: Gyro drift bias set to 0.00000

[imu_filter_madgwick_node-3] [INFO] [1696664928.252259252] [imu_filter_madgwick]: Magnetometer bias values: 0.00

[static_transform_publisher-7] [INFO] [1696664928.286630944] [static_transform_publisher_lRrC5ZXgWzegDUvw]: Spi'

[robot_state_publisher-6] Parsing robot urdf xml string.

[robot_state_publisher-6] The root link base_link has an inertia specified in the URDF, but KDL does not suppor.

[robot_state_publisher-6] Link camera2_link had 0 children

[robot_state_publisher-6] Link camera_link had 0 children

[robot_state_publisher-6] Link imu_link had 0 children

[robot_state_publisher-6] Link left_back_wheel had 0 children

[robot_state_publisher-6] Link left_front_wheel had 0 children

[robot_state_publisher-6] Link lidar_link had 0 children

[robot_state_publisher-6] Link right_back_wheel had 0 children

[robot_state_publisher-6] Link right_front_wheel had 0 children

[robot_state_publisher-6] [INFO] [1696664928.460429490] [robot_state_publisher]: got segment base_link

[robot_state_publisher-6] [INFO] [1696664928.461156350] [robot_state_publisher]: got segment camera2_link

[robot_state_publisher-6] [INFO] [1696664928.461358672] [robot_state_publisher]: got segment camera_link

[robot_state_publisher-6] [INFO] [1696664928.461447143] [robot_state_publisher]: got segment imu_link

[robot_state_publisher-6] [INFO] [1696664928.461507486] [robot_state_publisher]: got segment left_back_wheel

[robot_state_publisher-6] [INFO] [1696664928.461565078] [robot_state_publisher]: got segment left_front_wheel

[robot_state_publisher-6] [INFO] [1696664928.461622045] [robot_state_publisher]: got segment lidar_link

[robot_state_publisher-6] [INFO] [1696664928.461675970] [robot_state_publisher]: got segment right_back_wheel

[robot_state_publisher-6] [INFO] [1696664928.461731520] [robot_state_publisher]: got segment right_front_wheel

[ekf_node-4] X acceleration is being measured from IMU; X velocity control input is disabled

[joint_state_publisher-5] [INFO] [1696664930.805215712] [joint_state_publisher]: Waiting for robot_description .

[imu_filter_madgwick_node-3] [INFO] [1696664930.874444424] [imu_filter_madgwick]: First IMU message received.

键盘控制机器人

在另一个终端中运行如下指令打开键盘控制功能：

运行成功后出现以下提示

This node takes keypresses from the keyboard and publishes them

as Twist messages. It works best with a US keyboard layout.

---------------------------

Moving around:

   u    i    o

   j    k    l

   m    ,    .

For Holonomic mode (strafing), hold down the shift key:

---------------------------

   U    I    O

   J    K    L

   M    <    >

t : up (+z)

b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%

w/x : increase/decrease only linear speed by 10%

e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0

根据提示使用键盘对应按键控制机器人运动。

接口

说明话题

订阅话题

发布话题

参数

常见问题

暂无。