中文版说明

Tianbot详细中文操作手册

Tianbot is a series of robots developed based on DJI RoboMaster boards, motors and contollers. The typical design is a mecanum-wheeled robot with omni-directional movement. Moreover, differetial drive and ackermann steering geometry like a mars-rover are also supported. This is a mapping to navigation software framework supporting all kinds of Tianbot robots. It can be easily deployed to your own robot.

As long as you can apply the framework to your own robot, it is can be easily to form a group of robots and to do some fancy multi-robot experiment. The framework supports multi-robots very well.

Tianbot ROS Wiki Our goal is to develop a platform can be customized easily and the code can be deployed without any modification.

Tianbot platform can be ordered from out online shop. However, this platform is mainly for customization.

点击这里进入淘宝购买或咨询客服： Purchase from Taobao:

Customized

tianbot is the software framework.
tianbot_core is the driver for all the tianbot mobile platforms.

cd ~/catkin_ws/src/
git clone https://github.com/tianbot/tianbot.git
git clone https://github.com/tianbot/tianbot_core.git
cd ~/catkin_ws && catkin_make

Tianbot can be brought up all at once, or separately.

roslaunch tianbot_bringup tianbot_bringup.launch

roslaunch tianbot_core tianbot_core.launch

roslaunch tianbot_bringup lidar.launch

roslaunch tianbot_bringup rgbd_camera.launch

roslaunch tianbot_bringup usb_cam.launch

roslaunch tianbot_bringup gps.launch

After bringing up the Tianbot, we provide three methods to perform slam for 2D laser.

roslaunch tianbot_slam tianbot_gmapping.launch

roslaunch tianbot_slam tianbot_hector.launch

roslaunch tianbot_slam tianbot_cartographer.launch

Map will be saved as tianbot_office in tianbot_slam/maps/

roslaunch tianbot_slam map_save.launch

After saving the map, the map can be used to perform navigation.

roslaunch tianbot_navigation tianbot_nav.launch

Configure running ROS across multiple machines, then launch rviz in a PC with display

roslaunch tianbot_rviz view_nav_amcl.launch