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03.X3-ROS1-Tutorials/12.Lidar course/13.APP mapping and navigation/13.APP Mapping and Navigation（new）.pdf

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+APP Mapping and Navigation
+
+How to download mapping APP
+
+For Android users, open the mobile browser and scan following QR code to download and
+install Yahboom ROS Robot APP.
+For iOS users, please search [Yahboom ROS Robot] on App store, or open camera or brower,
+scan following QR code to download and install Yahboom ROS Robot APP.
+
+13.1.1、start up
+
+NOTE:
+         1. When creating a map, the slower the speed, the better the effect (note: if the
+
+rotation speed is slower). If the speed is too fast, the effect will be very poor
+
+   2. Before creating a map, you must first close the self starting large program
+
+According to different vehicle models, you only need to set the purchased model in [. bashrc],
+such as X1 (ordinary four-wheel drive), X3 (wheel drive), X3plus (wheel mechanical arm), R2
+(Ackermann differential), etc. This section takes X3 as an example
+
+   #Raspberry Pi 5 master needs to enter docker first, please perform this step
+   #If running the script into docker fails, please refer to ROS/07, Docker
+   tutorial
+   ~/run_docker.sh
+Open the [. bashrc] file
+   sudo vim .bashrc
+Search for the ROBOT_TYPE parameter and modify the corresponding vehicle model
+   export ROBOT_TYPE=X3 # ROBOT_TYPE: X1 X3 X3plus R2 X7
+Start the driver command (on the robot side). For ease of operation, this section takes
+[mono+laser+ yahboomcar] as an example. Laser+Transbot cannot set the camera screen.
+
+roslaunch yahboomcar_nav laser_bringup.launch      # laser + yahboomcar
+roslaunch yahboomcar_nav laser_usb_bringup.launch  # mono + laser +
+yahboomcar
+
+Start the mapping function (robot side)
+<PI5 needs to open another terminal and enter the same docker container
+
+   roslaunch yahboomcar_nav yahboomcar_map.launch use_rviz:=false
+   map_type:=gmapping
+
+Start the radar data transfer point cloud node and rosbridge and other nodes (Raspberry Pi
+version)
+
+   source /home/pi/ROS/laser_app/devel/setup.bash
+   roslaunch /home/pi/ROS/laser_app/laser_app.launch
+   #PI5
+   source /root/ROS/laser_app/devel/setup.bash
+   roslaunch /root/ROS/laser_app/laser_app.launch
+
+Start converting radar data to point cloud nodes and nodes such as rosbridge (Jetson nano
+version)
+
+   source /home/jetson/ROS/laser_app/devel/setup.bash
+   roslaunch /home/jetson/ROS/laser_app/laser_app.launch
+13.1.2、usage
+
+After the robot is started, click APP
+
+To ensure that the mobile phone and the robot are in the same LAN, enter the robot [IP] in the
+input box, select ROS1 by default, select 【en】 as the default language, and click [Connect] to log
+in.
+
+Enter the ip displayed on the oled of the car, and the radar scanning map will appear after the
+connection is successful, as shown in the figure below：
+At this time, slide the joystick in the lower right corner. When sliding the joystick, the slower the
+speed, the better the effect (especially the rotation speed), and control the robot to move until the
+map is created.
+
+13.1.3、save map
+
+When the map is created, click the Save Map button
+
+Click on the top of the input box, enter the name [house] to save the map, and click [Submit]
+(English only, no symbols), and save the map.
+
+The directory for saving the map is as follows：
+Raspberry Pie:
+
+   /home/pi/yahboom_ws/src/yahboom_nav/maps
+   #PI5
+   /root/yahboomcar_ws/src/yahboomcar_nav/maps
+
+jetsin nano：
+
+   /home/jetson/yahboom_ws/src/yahboom_nav/maps
+
+13.2、Navigation obstacle avoidance
+
+Note: [R2] of the remote controller has the function of canceling the navigation target
+point! ! ! When navigating [Full] Do not use the joystick control! ! !
+
+13.2.1、start up
+
+Start the driver command (on the robot side). For ease of operation, this section takes
+[mono+laser+RosMaster] as an example. Laser+RosMaster cannot set the camera screen.
+
+roslaunch yahboomcar_nav laser_bringup.launch      # laser + yahboomcar
+roslaunch yahboomcar_nav laser_usb_bringup.launch  # mono + laser +
+yahboomcar
+Start navigation obstacle avoidance function (robot side)
+
+   roslaunch yahboomcar_nav yahboomcar_navigation.launch use_rviz:=false map:=house
+
+      Use_ Rviz parameter: whether to turn on rviz.
+      map：Load a map file named 'house'.
+Start the radar data to point cloud node and rosbridge and other nodes (raspberry pie version)
+
+   source /home/pi/ROS/laser_app/devel/setup.bash
+   roslaunch /home/pi/ROS/laser_app/laser_app.launch
+   #PI5
+   source /root/ROS/laser_app/devel/setup.bash
+   roslaunch /root/ROS/laser_app/laser_app.launch
+
+Start the radar data to point cloud node and rosbridge and other nodes (Jetson nano version)
+
+   source /home/jetson/ROS/laser_app/devel/setup.bash
+   roslaunch /home/jetson/ROS/laser_app/laser_app.launch
+
+The login method is the same as above. After login, you will directly enter the map building
+interface. At this time, you need to click the Settings button to open the menu bar and drop down
+to select the navigation. Click the navigation button to enter the navigation interface.
+Click Set Initialization Point to enter the interface for setting initialization point.
+Because the origin of the robot is not consistent with the current location of the robot when it is
+building the map, the scanned points do not coincide with the map. At this time, we need to set
+the initial pose of the robot. First, click the Set Initialization Point button, select the approximate
+position of the robot on the map, and keep sliding to the approximate pose of the robot without
+releasing it. Make the scanned points coincide with the map as much as possible.
+
+Click the Set Navigation Point button to enter the navigation interface.
+Select the target position of the robot on the map, do not release it, continue sliding towards the
+posture that the robot wants to maintain, and once released, the robot will move towards the
+target position.
+