瓜大无人船踩坑记2

1. 设备准备

   • 手柄
   • 电池（2块）
   • 电台及天线
   • 电台电池（12V）
   • 网线1根
   • 计算机

2. 设置计算机网络

   • 静态ip地址

   • 网段：192.168.0.x

     已占用的地址：

     192.168.0.57  usv3-laptop
     192.168.0.205 hans-linuxpc
     

   • 工控机密码123

3. 设置工控机网络

   • 静态ip地址，无需改动

   • 连接键盘鼠标，使用

     sudo gedit /etc/hosts
     

     在其中添加你的pc：

     192.168.0.x  xxxxxx
     

4. 远程连接服务器

   • ping测试

     # usv3
     # you can also ping usv3-laptop
     ping 192.168.0.57
     # inet(usv)
     ping 192.168.0.11
     # inet(land)
     ping 192.168.0.26
     

   • 远程登录

     ssh usv3@usv3-laptop
     

5. 编译

   cd ~/dev/catkin_ws_serial_03
   catkin_make
   

6. 推进器连接电源，并打开开关
   【注意】：对于修正的版本，此后仅需在根目录下依次执行

   . ./sensor.sh
   . ./actuator.sh
   

   并在个人PC上执行：

   cd [YOU_PC_WORKSPACE]
   source devel/setup.bash
   export ROS_MASTER_URI=http://usv3-laptop:11311/
   roslaunch my_serial_node joy.launch
   

   如果需要查看rostopic的内容，必须先进行source
   对于修正的版本，仅需：

   cd ~
   . ./init.sh
   

7. 依次连接SBG、GPS、推进器

   赋权限：

   dmesg | grep tty
   

   看一下是不是3个，然后：

   sudo chmod a+rw /dev/ttyUSB0
   sudo chmod a+rw /dev/ttyUSB1
   sudo chmod a+rw /dev/ttyUSB2
   

8. 执行ros命令

   记得每次都需要远程连接，并

   cd ~/dev/catkin_ws_serial_03
   source devel/setup.bash
   

   随后：

   roscore
   

   执行：

   roslaunch launch_files npu_asv_sensor.launch
   
   SUMMARY
   ========
   
   CLEAR PARAMETERS
    * /ekf_se_ship3/
   
   PARAMETERS
    * /ekf_se_ship3/acceleration_gains: [0.8, 0.0, 0.0, 0...
    * /ekf_se_ship3/acceleration_limits: [1.3, 0.0, 0.0, 0...
    * /ekf_se_ship3/base_link_frame: base_link
    * /ekf_se_ship3/control_config: [True, False, Fal...
    * /ekf_se_ship3/control_timeout: 0.2
    * /ekf_se_ship3/debug: False
    * /ekf_se_ship3/debug_out_file: /path/to/debug/fi...
    * /ekf_se_ship3/deceleration_gains: [1.0, 0.0, 0.0, 0...
    * /ekf_se_ship3/deceleration_limits: [1.3, 0.0, 0.0, 0...
    * /ekf_se_ship3/frequency: 30
    * /ekf_se_ship3/imu0: /imu_data1
    * /ekf_se_ship3/imu0_config: [False, False, Fa...
    * /ekf_se_ship3/imu0_differential: False
    * /ekf_se_ship3/imu0_linear_acceleration_rejection_threshold: 0.8
    * /ekf_se_ship3/imu0_nodelay: False
    * /ekf_se_ship3/imu0_pose_rejection_threshold: 0.8
    * /ekf_se_ship3/imu0_queue_size: 5
    * /ekf_se_ship3/imu0_relative: False
    * /ekf_se_ship3/imu0_remove_gravitational_acceleration: False
    * /ekf_se_ship3/imu0_twist_rejection_threshold: 0.8
    * /ekf_se_ship3/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
    * /ekf_se_ship3/map_frame: map
    * /ekf_se_ship3/odom0: /odom
    * /ekf_se_ship3/odom0_config: [True, True, Fals...
    * /ekf_se_ship3/odom0_differential: True
    * /ekf_se_ship3/odom0_nodelay: False
    * /ekf_se_ship3/odom0_pose_rejection_threshold: 5
    * /ekf_se_ship3/odom0_queue_size: 10
    * /ekf_se_ship3/odom0_relative: False
    * /ekf_se_ship3/odom0_twist_rejection_threshold: 1
    * /ekf_se_ship3/odom1: example/odom
    * /ekf_se_ship3/odom1_config: [True, True, Fals...
    * /ekf_se_ship3/odom1_differential: False
    * /ekf_se_ship3/odom1_nodelay: False
    * /ekf_se_ship3/odom1_pose_rejection_threshold: 2
    * /ekf_se_ship3/odom1_queue_size: 10
    * /ekf_se_ship3/odom1_relative: True
    * /ekf_se_ship3/odom1_twist_rejection_threshold: 1
    * /ekf_se_ship3/odom_frame: odom
    * /ekf_se_ship3/pose0: example/pose
    * /ekf_se_ship3/pose0_config: [True, True, Fals...
    * /ekf_se_ship3/pose0_differential: True
    * /ekf_se_ship3/pose0_nodelay: False
    * /ekf_se_ship3/pose0_queue_size: 5
    * /ekf_se_ship3/pose0_rejection_threshold: 2
    * /ekf_se_ship3/pose0_relative: False
    * /ekf_se_ship3/print_diagnostics: True
    * /ekf_se_ship3/process_noise_covariance: [0.05, 0, 0, 0, 0...
    * /ekf_se_ship3/publish_acceleration: False
    * /ekf_se_ship3/publish_tf: False
    * /ekf_se_ship3/sensor_timeout: 1
    * /ekf_se_ship3/stamped_control: False
    * /ekf_se_ship3/transform_time_offset: 0.0
    * /ekf_se_ship3/transform_timeout: 0.0
    * /ekf_se_ship3/twist0: example/twist
    * /ekf_se_ship3/twist0_config: [False, False, Fa...
    * /ekf_se_ship3/twist0_nodelay: False
    * /ekf_se_ship3/twist0_queue_size: 3
    * /ekf_se_ship3/twist0_rejection_threshold: 2
    * /ekf_se_ship3/two_d_mode: True
    * /ekf_se_ship3/use_control: False
    * /ekf_se_ship3/world_frame: odom
    * /nmea_serial_driver_node_ship3/baud: 115200
    * /nmea_serial_driver_node_ship3/frame_id: odom
    * /nmea_serial_driver_node_ship3/port: /dev/ttyUSB2
    * /nmea_serial_driver_node_ship3/time_ref_source: gps
    * /nmea_serial_driver_node_ship3/useRMC: False
    * /rosdistro: kinetic
    * /rosversion: 1.12.14
   
   NODES
     /
       ekf_se_ship3 (robot_localization/ekf_localization_node)
       imudata_sbg_ship3 (tutorial/imudata_sbg.py)
       listener_ship3 (my_serial_node/listener)
       nmea_serial_driver_node_ship3 (nmea_navsat_driver/nmea_serial_driver)
       odom_trans_ship3 (tutorial/odom_trans_npu.py)
       sbg_serial_ship3 (my_serial_node/sbg_serial)
       sonar_listener_ship3 (my_serial_node/sonar_listener)
       sonar_serial_ship3 (my_serial_node/sonar_serial)
       utm_odometry_node_ship3 (gps_common/utm_odometry_node)
   
   ROS_MASTER_URI=http://localhost:11311
   
   process[sbg_serial_ship3-1]: started with pid [10077]
   process[listener_ship3-2]: started with pid [10078]
   process[nmea_serial_driver_node_ship3-3]: started with pid [10088]
   process[sonar_listener_ship3-4]: started with pid [10101]
   process[sonar_serial_ship3-5]: started with pid [10104]
   process[utm_odometry_node_ship3-6]: started with pid [10112]
   process[imudata_sbg_ship3-7]: started with pid [10121]
   process[odom_trans_ship3-8]: started with pid [10127]
   [ERROR] [1606464842.121274597]: Unable to open Sonarport 
   process[ekf_se_ship3-9]: started with pid [10149]
   

   亦可执行：

   . ./sensor.sh 
   

9. 执行ros命令

   执行：

   roslaunch launch_files npu_asv_actuator.launch
   
   NODES
     /
       talker_ship3 (my_serial_node/talker_ship2u1)
       thrust_serial_ship3 (my_serial_node/thrust_serial)
       
   ROS_MASTER_URI=http://localhost:11311
   process[talker_ship3-1]: started with pid [3178]
   process[thrust_serial_ship3-2]: started with pid [3179]
   

   亦可执行：

   . ./actuator.sh
   

10. 启动遥控节点

    cd [YOU_PC_WORKSPACE]
    source devel/setup.bash
    export ROS_MASTER_URI=http://usv3-laptop:11311/
    roslaunch my_serial_node joy.launch
    

    启动情况：

    NODES
      /
        joy_node (joy/joy_node)
        joy_prop (my_serial_node/joy_prop.py)
    
    ROS_MASTER_URI=http://usv3-laptop:11311/
    
    process[joy_prop-1]: started with pid [3955]
    process[joy_node-2]: started with pid [3956]
    

备注：修正版本的记录。

1. 绑定USB端口位置与传感器

   作用：无需按顺序插线即可正常连接传感器。

   参考：https://blog.csdn.net/weixin_45258318/article/details/110946148

2. 修改代码中关于USB号的部分

   修改的文件与内容如下：

   1. /src/mypackage/my_serial_node/src/sbg_serial.cpp

      ros::init(argc, argv, "sbg_serial");
      ros::NodeHandle n;
      //发布主题sensor
      ros::Publisher sensor_pub = n.advertise<my_serial_node::serialmsg>("sbg_yaw", 1000);
      
      try
      {
      //sbg_ser.setPort("/dev/ttyUSB0");
      sbg_ser.setPort("/dev/sbg");
      sbg_ser.setBaudrate(115200);
      serial::Timeout to = serial::Timeout::simpleTimeout(1000);
      sbg_ser.setTimeout(to);
      sbg_ser.open();
      }
      

   2. /src/mypackage/my_serial_node/src/thrust_serial.cpp

      ros::init(argc, argv, "serial1");
      ros::NodeHandle n;
      //订阅主题command
      ros::Subscriber command_sub = n.subscribe("command", 1000, callback);
      try
      {  
          //thrust_ser.setPort("/dev/ttyUSB2");
          thrust_ser.setPort("/dev/thrust");
          thrust_ser.setBaudrate(115200);
          serial::Timeout to = serial::Timeout::simpleTimeout(1000);
          thrust_ser.setTimeout(to);
          thrust_ser.open();
      }
      

   3. /src/mypackage/nmea_navsat_driver/launch/nmea_serial_driver.launch

      <launch>
      
        <!-- A simple launch file for the nmea_serial_driver node. -->
      
        <!--<arg name="port" default="/dev/ttyUSB1" />-->
        <arg name="port" default="/dev/gps" />
        <arg name="baud" default="115200" />
        <arg name="frame_id" default="odom" />
        <arg name="time_ref_source" default="gps" />
        <arg name="useRMC" default="false" />
      
        <node name="nmea_serial_driver_node" pkg="nmea_navsat_driver" type="nmea_serial_driver" output="log">
          <param name="port" value="$(arg port)"/>
          <param name="baud" value="$(arg baud)" />
          <param name="frame_id" value="$(arg frame_id)" />
          <param name="time_ref_source" value="$(arg time_ref_source)" />
          <param name="useRMC" value="$(arg useRMC)" />
        </node>
      
      </launch>