{"id":599,"date":"2020-06-28T19:59:51","date_gmt":"2020-06-28T11:59:51","guid":{"rendered":"https:\/\/www.iotch.xyz\/?p=599"},"modified":"2020-06-28T19:59:51","modified_gmt":"2020-06-28T11:59:51","slug":"%e6%a0%91%e8%8e%93%e6%b4%beslam%e5%b0%8f%e8%bd%a6%e6%93%8d%e4%bd%9c%e6%8c%87%e5%8d%97","status":"publish","type":"post","link":"https:\/\/www.iotch.xyz\/?p=599","title":{"rendered":"\u6811\u8393\u6d3eSLAM\u5c0f\u8f66\u64cd\u4f5c\u6307\u5357"},"content":{"rendered":"\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>\u5f20\u5b50\u8c6a \u540c\u6d4e\u5927\u5b662018\u7ea7\u4ea4\u901a\u8fd0\u8f93\u5de5\u7a0b\u5b66\u9662 \u7814\u7a76\u751f<\/p><\/blockquote>\n\n\n\n<p>[TOC]<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u6e90\u4ee3\u7801\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u6e90\u4ee3\u7801<\/h1>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>\u6e90\u4ee3\u7801\u90fd\u5728\u6811\u8393\u6d3e\u64cd\u4f5c\u7cfb\u7edf\u4e2d<\/p><\/blockquote>\n\n\n\n<p>python\u6e90\u4ee3\u7801\uff1a<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/clbrobot\/script<\/p>\n\n\n\n<p>C\u8bed\u8a00\u6e90\u4ee3\u7801<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/clbrobot\/src<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/clbrobot\/launch<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5b89\u88c5\u865a\u62df\u673a\u8f6f\u4ef6vmware\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u5b89\u88c5\u865a\u62df\u673a\u8f6f\u4ef6VMware<\/h2>\n\n\n\n<p>\u7f51\u76d8\u94fe\u63a5\uff1a<a href=\"https:\/\/pan.baidu.com\/s\/1pbDXpgpNQTdTRzzKNWfE1A\" target=\"_blank\"  rel=\"nofollow\" >\u70b9\u6211<\/a><\/p>\n\n\n\n<p>\u5b89\u88c5\u6307\u5357\uff1a<a href=\"https:\/\/blog.csdn.net\/qq_31362105\/article\/details\/80706096\" target=\"_blank\"  rel=\"nofollow\" >\u70b9\u6211<\/a><\/p>\n\n\n\n<p>\u8bb8\u53ef\u8bc1\u5bc6\u94a5\uff1a<code>CG54H-D8D0H-H8DHY-C6X7X-N2KG6<\/code><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u4e0b\u8f7d\u865a\u62df\u673a\u7cfb\u7edf\u6587\u4ef6\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e0b\u8f7d\u865a\u62df\u673a\u7cfb\u7edf\u6587\u4ef6<\/h2>\n\n\n\n<p>\u6253\u5f00Vmware\uff0c\u9009\u62e9<code>\u6253\u5f00\u865a\u62df\u673a<\/code><\/p>\n\n\n\n<p>\u627e\u5230<code>Ubuntu 64 \u4f4d.vmx<\/code>\u6587\u4ef6<\/p>\n\n\n\n<p>\u663e\u793a\u8be5\u865a\u62df\u673a\u4f3c\u4e4e\u6b63\u5728\u4f7f\u7528\u4e2d......\u70b9\u51fb<code>\u83b7\u53d6\u6240\u6709\u6743<\/code><\/p>\n\n\n\n<p>\u7f51\u7edc\u9002\u914d\u5668\u9009\u6865\u63a5\u6a21\u5f0f\uff0c\u52fe\u9009\u590d\u5236\u7269\u7406\u7f51\u7edc\u8fde\u63a5\u72b6\u6001<\/p>\n\n\n\n<p>\u5f00\u542f\u865a\u62df\u673a<\/p>\n\n\n\n<p>\u6211\u5df2\u590d\u5236\u8be5\u865a\u62df\u673a<\/p>\n\n\n\n<p>\u65e0\u6cd5\u8fde\u63a5\u865a\u62df\u8bbe\u5907\uff1a\u662f<\/p>\n\n\n\n<p>\u786e\u5b9a \u786e\u5b9a<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u6253\u5f00\u865a\u62df\u673aubuntu\u7cfb\u7edf\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u6253\u5f00\u865a\u62df\u673aUbuntu\u7cfb\u7edf<\/h2>\n\n\n\n<p>\u7528\u6237\u540dCLB\uff0c\u5bc6\u7801123456<\/p>\n\n\n\n<p>\u67e5\u770b-\u81ea\u52a8\u8c03\u6574\u5927\u5c0f-\u81ea\u52a8\u9002\u5e94\u5ba2\u6237\u673a \u81ea\u52a8\u9002\u5e94\u7a97\u53e3<\/p>\n\n\n\n<p>\u5b89\u88c5vmware-tools<\/p>\n\n\n\n<p>\u5feb\u6377\u952e\uff1a<\/p>\n\n\n\n<p>ctrl + shift + t \u65b0\u7684\u547d\u4ee4\u884c\u9009\u9879\u5361<\/p>\n\n\n\n<p>ctrl + alt + t \u65b0\u7684\u547d\u4ee4\u884c\u7a97\u53e3<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u70e7\u5f55\u6811\u8393\u6d3e\u955c\u50cf\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u70e7\u5f55\u6811\u8393\u6d3e\u955c\u50cf<\/h2>\n\n\n\n<p>\u4e0b\u8f7d\u955c\u50cf\u70e7\u5f55\u5de5\u5177 Etcher\u6216win32img<\/p>\n\n\n\n<p>\u4e0b\u8f7d\u955c\u50cf\u6587\u4ef6\uff0c\u533a\u52063B\u548c3B+<\/p>\n\n\n\n<p>\u70e7\u5f55\u5230SD\u5361\u4e2d<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5c0f\u8f66\u5f00\u673a\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5c0f\u8f66\u5f00\u673a<\/h1>\n\n\n\n<p>\u5c06SD\u5361\u63d2\u5230\u5c0f\u8f66\u4e0a\uff0c\u5f00\u673a<\/p>\n\n\n\n<p>\u7535\u538b\u5e94\u572812V\u4ee5\u4e0a\uff0c\u663e\u793a\u5c4f\u663e\u793a<\/p>\n\n\n\n<p>\u5728\u663e\u793a\u5c4f\u4e0a\u8bbe\u7f6ewifi\uff0c\u7535\u8111\u548c\u6811\u8393\u6d3e\u8fde\u5230\u540c\u4e00\u4e2awifi<\/p>\n\n\n\n<p>\u627e\u5230\u6811\u8393\u6d3e\u7684ip\u5730\u5740\uff0c\u6bd4\u5982\u6211\u7684\u662f192.168.200.14<\/p>\n\n\n\n<p>\u5728\u865a\u62df\u673a\u4e2d\u8f93\u5165<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">sudo gedit \/etc\/hosts<\/pre>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>\u8fd9\u4e2a\u6587\u4ef6\u663e\u793a\u4e86\u57df\u540d\u548c\u7f51\u5740\u4e4b\u95f4\u7684\u6620\u5c04\u60c5\u51b5\u3002\u5728\u8fd9\u4e2a\u6587\u4ef6\u91cc\u51fa\u73b0\u7684\u7f51\u5740\uff0c\u8bbf\u95ee\u7684\u65f6\u5019\u4e0d\u9700\u8981\u4f7f\u7528DNS\u534f\u8bae\uff0c\u800c\u662f\u76f4\u63a5\u8bfb\u53d6\u57df\u540d\u3002<\/p><\/blockquote>\n\n\n\n<p>\u628arobot\u524d\u9762\u7684ip\u5730\u5740\u8bbe\u4e3a\u6811\u8393\u6d3e\u7684ip\u5730\u5740<\/p>\n\n\n\n<p>ctrl + s \u4fdd\u5b58\uff0c\u5173\u95ed<\/p>\n\n\n\n<p>\u5728\u865a\u62df\u673a\u4e2d\u8f93\u5165<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ssh clbrobot@robot\n<\/code><\/pre>\n\n\n\n<p>\u6216\u8005\u5728putty\u91cc\u8f93\u5165<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot\n123456<\/pre>\n\n\n\n<p>\u767b\u5f55\u4e4b\u540e\uff0c\u8f93\u5165<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot~$ roslaunch clbrobot bringup.launch<\/pre>\n\n\n\n<p>\u542f\u52a8\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB sudo gedit ~\/.bashrc<\/pre>\n\n\n\n<p>\u6700\u540e\u4e00\u884c\uff0c\u66ff\u6362\u6210\u6811\u8393\u6d3e\u7684ip\u5730\u5740\uff0c\u4f7f\u6811\u8393\u6d3e\u6307\u5411\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB source ~\/.bashrc<\/pre>\n\n\n\n<p>\u8ba9\u4fee\u6539\u751f\u6548<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u542f\u52a8rviz\u8c03\u8bd5\u7a97\u53e3<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u64cd\u4f5c\u673a\u5668\u4eba\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u64cd\u4f5c\u673a\u5668\u4eba<\/h1>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB ssh clbrobot@robot<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot sudo nano ~\/.bashrc<\/pre>\n\n\n\n<p>\u786e\u4fdd\u6700\u540e\u90e8\u5206\u662ftank\u548crplidar<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\"><p>rplidar\u6307\u7684\u662f\u601d\u5c9a\u516c\u53f8\u751f\u4ea7\u7684\u6fc0\u5149\u96f7\u8fbe<\/p><\/blockquote>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5feb\u901f\u63a7\u5236\u673a\u5668\u4eba\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5feb\u901f\u63a7\u5236\u673a\u5668\u4eba<\/h1>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/pre>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5173\u673a\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5173\u673a<\/h1>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot sudo halt<\/pre>\n\n\n\n<p>\u521b\u4e50\u535alogo\u51fa\u73b0\u5728\u663e\u793a\u5c4f\u4e0a\uff0c\u6b64\u65f6\u5c31\u53ef\u4ee5\u5173\u673a\u4e86<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u91cd\u65b0\u542f\u52a8\u673a\u5668\u4eba\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u91cd\u65b0\u542f\u52a8\u673a\u5668\u4eba<\/h1>\n\n\n\n<p>\u542f\u52a8\u865a\u62df\u673a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB ssh clbrobot@robot<\/pre>\n\n\n\n<p>\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot bringup.launch<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roscd clbrobot\/<\/pre>\n\n\n\n<p>\u8fdb\u5165\u5de5\u7a0b\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot$ cd param\n\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param$ ls\nekf  imu  navigation<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u6821\u51c6imu\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u6821\u51c6IMU<\/h2>\n\n\n\n<p>\u5728\u4e0a\u4e00\u6b65\u57fa\u7840\u4e0a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">cd imu\n\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param$ cd imu\n\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param\/imu$ ls\nimu_calib.yaml\n\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param\/imu$ sudo nano imu_calib.yaml <\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param\/imu$ rostopic echo \/imu\/data\n\u6253\u5f00\u5b9e\u65f6\u9640\u87ba\u4eea<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/param\/imu$ rosrun imu_calib do_calib\n\u5c06\u4e0d\u540c\u9762\u4f9d\u6b21\u671d\u4e0a\uff0c\u56de\u8f66\u8fdb\u884c\u6821\u51c6<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u89d2\u901f\u5ea6\u6821\u6b63\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u89d2\u901f\u5ea6\u6821\u6b63<\/h2>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot $ rosrun rikirobot_nav calibrate_angular.py\nCLB@CLB:~$ rosrun rqt_reconfigure rqt_reconfigure <\/pre>\n\n\n\n<p>\u6253\u5f00imu\u6821\u51c6\u754c\u9762<\/p>\n\n\n\n<p>\u70b9start_test\u8fdb\u884c360\u5ea6\u8f6c\u5411\u6d4b\u8bd5\uff0c\u5047\u5982\u8f6c\u4e86365\u5ea6\uff0c\u5c31\u5c06365\/360=1.014\u586b\u5165odom_angular_scale_coreection\uff0c\u91cd\u65b0\u6d4b\u8bd5<\/p>\n\n\n\n<p>\u5173\u6389\u6240\u6709\u547d\u4ee4\u884c\uff0c\u5305\u62ec\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roscd clbrobot\/\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot$ cd launch\/\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/launch$ sudo nano bringup.launch<\/pre>\n\n\n\n<p>\u627e\u5230\u4e0b\u9762\u8fd9\u884c<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> &lt;param name=\"angular_scale\" value=\"0.986\" \/&gt;<\/pre>\n\n\n\n<p>\u5c06\u6d4b\u597d\u7684\u6570\u503c\u4f20\u5165value\uff0c\u4fdd\u5b58\u9000\u51fa<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u7ebf\u901f\u5ea6\u6821\u6b63\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u7ebf\u901f\u5ea6\u6821\u6b63<\/h2>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot~$ rosrun rikirobot_nav calibrate_linear.py\nCLB@CLB:~$ rosrun rqt_reconfigure rqt_reconfigure <\/pre>\n\n\n\n<p>\u9009\u62e9<code>calibrate linear<\/code><\/p>\n\n\n\n<p>\u4fee\u6539odom_linear_scale_correction<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roscd clbrobot\/\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot$ cd launch\/\nclbrobot@robot:~\/catkin_ws\/src\/clbrobot_project\/clbrobot\/launch$ sudo nano bringup.launch<\/pre>\n\n\n\n<p>\u6253\u5f00xml\u914d\u7f6e\u6587\u4ef6<\/p>\n\n\n\n<p>\u4fee\u6539value\u503c<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"> &lt;param name=\"linear_scale\" type=\"double\" value=\"1.045\" \/&gt;<\/pre>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u521b\u5efa\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u521b\u5efa\u5730\u56fe<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u5f00\u542f\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roslaunch clbrobot lidar_slam.launch<\/pre>\n\n\n\n<p>\u6253\u5f00rviz\u8c03\u8bd5\u7a97\u53e3<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB:~$ rosrun rviz rviz<\/pre>\n\n\n\n\n\n<p>open config<\/p>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/slam.rviz<\/p>\n\n\n\n<p>\u952e\u76d8\u63a7\u5236\u673a\u5668\u4eba<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/pre>\n\n\n\n<p>speed\u8c03\u81f30.3\uff0cturn\u8c03\u81f30.5<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u4fdd\u5b58\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">\u4fdd\u5b58\u5730\u56fe<\/h2>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roscd clbrobot\ncd maps\nls\n.\/map.sh\nls -l \u5373\u53ef\u770b\u5230\u66f4\u65b0\u540e\u7684hous.pgm\u548chouse.yaml\u6587\u4ef6<\/pre>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u81ea\u52a8\u5bfc\u822a\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u81ea\u52a8\u5bfc\u822a<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot navigate.launch<\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165<\/p>\n\n\n\n<p>\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/navigate.rviz<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u9f20\u6807\u6784\u4ef6\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u9f20\u6807\u6784\u4ef6\u5730\u56fe<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<p>\u542f\u52a8slam\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roslaunch clbrobot lidar_slam.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/slam.rviz<\/p>\n\n\n\n<p>\u76f4\u63a5\u75282D Nav Goal\u9009\u5b9a\u76ee\u6807<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u9009\u62e9\u533a\u57df\u6784\u5efa\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u9009\u62e9\u533a\u57df\u6784\u5efa\u5730\u56fe<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<p>\u542f\u52a8auto_slam\u8282\u70b9\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ roslaunch clbrobot auto_slam.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/slam.rviz<\/p>\n\n\n\n<p>\u7528\u5de5\u5177\u680f\u4e2d\u7684Publish Point\u52fe\u52d2\u4e00\u4e2a\u5c01\u95ed\u533a\u57df<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u4f7f\u7528hector\u7b97\u6cd5\u6784\u5efa\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u4f7f\u7528hector\u7b97\u6cd5\u6784\u5efa\u5730\u56fe<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\u3001\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot hector_slam.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/slam.rviz<\/p>\n\n\n\n<p>hector\u7b97\u6cd5\u9002\u7528\u4e8e\u7a7a\u65f7\u5730\u5e26\uff0c\u5728\u72ed\u5c0f\u7a7a\u95f4\u4f1a\u6709\u91cd\u5f71<\/p>\n\n\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u591a\u70b9\u5bfc\u822a\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u591a\u70b9\u5bfc\u822a<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot navigate_multi.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/multi_goal.rviz<\/p>\n\n\n\n<p>\u7528publish point\u5de5\u5177\u8bbe\u5b9a\u76ee\u6807\u70b9<\/p>\n\n\n\n<p>\u591a\u70b9\u5bfc\u822a\u6e90\u4ee3\u7801\uff1a<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/clbrobot\/script<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u52a8\u6001pid\u53c2\u6570\u8c03\u8282\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u52a8\u6001PID\u53c2\u6570\u8c03\u8282<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot rosrun riki_pid pid_configure\n\nCLB@CLB rosrun rqt_reconfigure rqt_reconfigure<\/pre>\n\n\n\n<p>\u6e90\u4ee3\u7801\uff1a<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/riki_pid<\/p>\n\n\n\n<p>cfg\uff1a\u9ed8\u8ba4\u8f7d\u5165\u53c2\u6570<\/p>\n\n\n\n<p>src\uff1a\u914d\u7f6e\u6587\u4ef6<\/p>\n\n\n\n<p>\u4fee\u6539\u4e4b\u540e\u8981\u91cd\u65b0\u7f16\u8bd1\u624d\u80fd\u751f\u6548<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u6444\u50cf\u5934\u5bfb\u7ebf\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u6444\u50cf\u5934\u5bfb\u7ebf<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot camera.launch\n\nCLB@CLB roslaunch riki_line_follower riki_line.launch<\/pre>\n\n\n\n<p>\u6444\u50cf\u5934\u6253\u5f00\uff0c\u8bc6\u522b\u7ea2\u8272\u7ebf<\/p>\n\n\n\n<p>\u6e90\u4ee3\u7801<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/riki_line_follower<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u96f7\u8fbe\u8ddf\u968f\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u96f7\u8fbe\u8ddf\u968f<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot camera.launch\n\nclbrobot@robot roslaunch riki_lidar_follower laser_follower.launch<\/pre>\n\n\n\n<p>\u6e90\u4ee3\u7801<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/clbrobot_project\/riki_lidar_follower<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#karto\u7b97\u6cd5\u6784\u5efa\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">karto\u7b97\u6cd5\u6784\u5efa\u5730\u56fe<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u542f\u52a8\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot karto_slam.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/slam.rviz<\/p>\n\n\n\n<p>\u865a\u62df\u673a\u7aef\u6253\u5f00\u952e\u76d8\u63a7\u5236<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/pre>\n\n\n\n<p>\u9ed8\u8ba4\u7684\u7ebf\u901f\u5ea6\u4e3a0.5\uff0c\u89d2\u901f\u5ea6\u4e3a1.0<\/p>\n\n\n\n<p>\u56e0\u4e3akarto\u7b97\u6cd5\u8f83\u590d\u6742\uff0c\u8c03\u6574\u7ebf\u901f\u5ea60.3\u5de6\u53f3\uff0c\u89d2\u901f\u5ea60.5\u5373\u53ef<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5b89\u5353\u624b\u673aapp\u4e0e\u56fe\u50cf\u76d1\u63a7\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5b89\u5353\u624b\u673aapp\u4e0e\u56fe\u50cf\u76d1\u63a7<\/h1>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e \uff0c\u5f00\u542f\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot appcamera.launch<\/pre>\n\n\n\n<p>\u624b\u673a\u4e0a\u5b89\u88c5.apk\u6587\u4ef6\uff0c\u65b0\u5efa\u673a\u5668\u4eba\uff0c\u5c06localhost\u6539\u4e3a\u673a\u5668\u4eba\u7684ip\u5730\u5740\uff0c\u9ed8\u8ba4\u7aef\u53e311311<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#opencv\u56fe\u50cf\u5904\u7406\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">opencv\u56fe\u50cf\u5904\u7406<\/h1>\n\n\n\n<p>\u6e90\u4ee3\u7801\uff1a<\/p>\n\n\n\n<p>\/home\/rikirobot\/catkin_ws\/src\/opencv_apps<\/p>\n\n\n\n<p>\u67e5\u770b\u6e90\u7801\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">CLB@CLB roscd opencv_apps\ncd src\ncd nodelet\nls<\/pre>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot camera.launch\n\n\n\nCLB@CLB roslaunch opencv_apps edge_detection.launch #\u8fb9\u7f18\u63d0\u53d6\n\nCLB@CLB roslaunch opencv_apps hough_lines.launch #\u76f4\u7ebf\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps find_contours.launch #\u68c0\u6d4b\u8f6e\u5ed3\nCLB@CLB roslaunch opencv_apps convex_hull.launch #\u51f8\u5305\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps general_contours.launch #\u692d\u5706\u5f62\u8f6e\u5ed3\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps people_detect.launch #\u884c\u4eba\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps goodfeature_track.launch #\u5c16\u89d2\u70b9\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps camshift.launch #\u76ee\u6807\u8ddf\u8e2a\nCLB@CLB roslaunch opencv_apps fback_flow.launch #\u7269\u4f53\u79fb\u52a8\u68c0\u6d4b\nCLB@CLB roslaunch opencv_apps lk_flow.launch #\u7269\u4f53\u79fb\u52a8\u68c0\u6d4b2\nCLB@CLB roslaunch opencv_apps simple_flow.launch #\u7269\u4f53\u79fb\u52a8\u68c0\u6d4b3\nCLB@CLB roslaunch opencv_apps phase_corr.launch #\u76f8\u4f4d\u504f\u79fb\nCLB@CLB roslaunch opencv_apps segment_objects.launch #\u7269\u4f53\u5206\u5272\nCLB@CLB roslaunch opencv_apps rgb_color_filter.launch #\u8f6c\u9ed1\u767d\nCLB@CLB roslaunch opencv_apps hls_color_filter.launch #\u8f6c\u9ed1\u767d\nCLB@CLB roslaunch opencv_apps hsv_color_filter.launch #\u8f6c\u9ed1\u767d<\/pre>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5b89\u5353\u624b\u673aapp\u6784\u5efa\u5730\u56fe\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5b89\u5353\u624b\u673aapp\u6784\u5efa\u5730\u56fe<\/h1>\n\n\n\n<p>\u624b\u673a\u4e0a\u4e0b\u8f7d<code>Make Map.apk<\/code><\/p>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u5f00\u542f\u5e95\u76d8\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot lidar_slam.launch\n\nclbrobot@robot roslaunch clbrobot camera.launch<\/pre>\n\n\n\n<p>\u6253\u5f00\u624b\u673aapp\uff0c\u8bbe\u7f6elocalhost\u4e3a\u673a\u5668\u4ebaip\u5730\u5740\uff0c\u70b9connect<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u5b89\u5353\u624b\u673aapp\u5bfc\u822a\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u5b89\u5353\u624b\u673aapp\u5bfc\u822a<\/h1>\n\n\n\n<p>\u624b\u673a\u4e0a\u4e0b\u8f7d<code>Map Nav<\/code><\/p>\n\n\n\n<p>ssh\u5230\u6811\u8393\u6d3e\uff0c\u5f00\u542f\u4e3b\u8282\u70b9<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot roslaunch clbrobot navigate.launch\n\nclbrobot@robot roslaunch clbrobot camera.launch\n\nCLB@CLB rosrun rviz rviz<\/pre>\n\n\n\n<p>\u8f7d\u5165\/home\/riki\/catkon_ws\/src\/rikirobot_project\/rikirobot\/rviz\/navigate.rviz<\/p>\n\n\n\n<p>\u624b\u673a\u6253\u5f00APP\uff0c\u8bbe\u7f6elocalhost\u4e3a\u673a\u5668\u4ebaip\u5730\u5740\uff0cconnect<\/p>\n\n\n\n<p>\u53ef\u4ee5\u6307\u5b9a\u673a\u5668\u4eba\u7684\u4f4d\u7f6eset pose\uff0c\u4e5f\u53ef\u4ee5\u8fdb\u884c\u5bfc\u822aset goal<\/p>\n\n\n\n<p>\u8bbe\u7f6e\u7684\u65f6\u5019\u9700\u8981\u957f\u6309\uff0c\u5e76\u4e14\u5728\u5c4f\u5e55\u4e0a\u62d6\u52a8\u6307\u660e\u65b9\u5411<\/p>\n\n\n\n<p>app\u4e0a\u53ea\u663e\u793a\u6700\u8fd1\u7684\u5730\u56fe\uff0c\u968f\u7740\u4f4d\u7f6e\u7684\u79fb\u52a8\uff0c\u5730\u56fe\u4f1a\u8ddf\u7740\u66f4\u65b0<\/p>\n\n\n\n<p>\u540c\u65f6\uff0c\u5c0f\u8f66\u4f1a\u81ea\u52a8\u907f\u5f00\u9014\u5f84\u7684\u969c\u788d\uff0c\u975e\u5e38\u667a\u80fd\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#vim\u7f16\u8f91\u5668\u5e38\u7528\u64cd\u4f5c\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">vim\u7f16\u8f91\u5668\u5e38\u7528\u64cd\u4f5c<\/h1>\n\n\n\n<p>i \u8fdb\u5165\u7f16\u8f91\u6a21\u5f0f<\/p>\n\n\n\n<p>esc\uff1a\u9000\u51fa\u7f16\u8f91\u6a21\u5f0f<\/p>\n\n\n\n<p>:w \u4fdd\u5b58<\/p>\n\n\n\n<p>shift + z + z\u4fdd\u5b58\u9000\u51fa<\/p>\n\n\n\n<p>:wq \u4fdd\u5b58\u5e76\u9000\u51fa<\/p>\n\n\n\n<p>:q! \u5f3a\u5236\u9000\u51fa<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md#\u6811\u8393\u6d3e\u5e38\u7528\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" ><\/a><\/h1>\n\n\n\n<h1 class=\"wp-block-heading\">\u6811\u8393\u6d3e\u5e38\u7528\u547d\u4ee4<\/h1>\n\n\n\n<pre class=\"wp-block-preformatted\">clbrobot@robot:~$ rostopic echo \/scan #\u5982\u679c\u90fd\u662f0\u8bf4\u660e\u6fc0\u5149\u96f7\u8fbe\u6ca1\u6709\u8f93\u51fa\nclbrobot@robot:~$ ls -l \/dev\/ttyU*\ncrw-rw---- 1 root dialout 188, 0 2\u6708  28 20:27 \/dev\/ttyUSB0\ncrw-rw---- 1 root dialout 188, 1 2\u6708  28 18:44 \/dev\/ttyUSB1\n\u67e5\u770bUSB\u8bbe\u5907\uff0c\u4e00\u4e2a\u662f\u5e95\u76d8\uff0c\u4e00\u4e2a\u662f\u6fc0\u5149\u96f7\u8fbe\nclbrobot@robot:~$ ls -l \/dev\/riki* #\u67e5\u770b\u8f6f\u6620\u5c04\n\nclbrobot@robot:~$ lsusb\nBus 001 Device 006: ID 0bda:5825 Realtek Semiconductor Corp. \nBus 001 Device 005: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge \/ myAVR mySmartUSB light\nBus 001 Device 004: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter\nBus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512\/9514 Fast Ethernet Adapter\nBus 001 Device 002: ID 0424:9514 Standard Microsystems Corp. SMC9514 Hub\nBus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub\n<\/pre>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md\" target=\"_blank\"  rel=\"nofollow\" >https:\/\/github.com\/TommyZihao\/raspberrypi-slam-ros-car\/blob\/master\/%E6%A0%91%E8%8E%93%E6%B4%BESLAM%E5%B0%8F%E8%BD%A6%E6%93%8D%E4%BD%9C%E6%8C%87%E5%8D%97.md<\/a><\/p>\n<button class=\"simplefavorite-button\" data-postid=\"599\" data-siteid=\"1\" data-groupid=\"1\" data-favoritecount=\"0\" style=\"\">\u6536\u85cf <i class=\"sf-icon-star-empty\"><\/i><\/button>","protected":false},"excerpt":{"rendered":"<p>\u5f20\u5b50\u8c6a \u540c\u6d4e\u5927\u5b662018\u7ea7\u4ea4\u901a\u8fd0\u8f93\u5de5\u7a0b\u5b66\u9662 \u7814\u7a76\u751f [TOC] \u6e90\u4ee3\u7801 \u6e90\u4ee3\u7801\u90fd\u5728\u6811\u8393\u6d3e\u64cd\u4f5c\u7cfb\u7edf\u4e2d python\u6e90\u4ee3\u7801\uff1a \/hom &#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11],"tags":[],"class_list":["post-599","post","type-post","status-publish","format-standard","hentry","category-11"],"_links":{"self":[{"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=\/wp\/v2\/posts\/599","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=599"}],"version-history":[{"count":0,"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=\/wp\/v2\/posts\/599\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=599"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=599"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.iotch.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=599"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}