0. Hardware rule cd ~/pev_ws/src/pev/pev_hardware_rule/XXX(依照車體版本ntut/mit/nichinan) 若需更改pev-devices.rules 自行修改 ./setRule.sh 1. Eye-contact 1-1. Pose detection roscore roscd pev_dsm

# Optimize Teb_planner ### 0. First try {%youtube 7QmwzT5z3GY %} {%youtube tWmSf36yvtk %} --- ### 1. Fix the bug (got stucked in a narrow hallway) ==Test #1== > [color=#C0C0C0]base_local_planner_parameters_teb.yaml > ```javascript= > min_obstacle_dist: 0.2 #0.4 > inflation_dist: 0.3 #0.6 > dynamic_obstacle_inflation_dist: 0.3 #0.6 > ``` {%youtube zd7IwCFnifI %} {%youtube j9mcKZYIp0c %} --- ### 2. Optimize (turned too much and too quick) ==Te

# Nucleo-144 (F412ZG) ### 1. Use Arduino IDE to program   --- ### 2. Pinout - ==Zio and Arduino-compatible headers==   ==CN11 CN12 headers==   --- ### 3. Prequirmental libraries Timer action libraries (附上github連結就好) 中斷計時 ... --- ### 4. ROS and onbeded leds+buttons testing

# PEV-Simulation ### 1. Install turtlebot3 ==See Reference 7-1, Chapter 10.5== --- ### 2. TurtleBot3 Simulation using RViz ==See Reference 7-1, Chapter 10.8== :::danger :bulb: **Remeber to add this line to .bashrc：** export TURTLEBOT3_MODEL=burger ::: --- ### 3. Install GAZEBO-ros http://gazebosim.org/tutorials?tut=ros_installing#InstallROS --- ### 4. TurtleBot3 Simulation using Gazebo ==See Reference 7-1, Chapter 10.9== :::info **When you meet the same error below:** [ERROR: can

# 使用Hokuyo_LX30做gmapping ==學習ROS的過程是痛並快樂著==:smiley: # DEBIUGGING : Tutorial/indigo/Adding a ladar to the turtlebot... There are some bugs in the "Step2. Plugin the sensor" Lidar= Hokuyo UTM-30LX ROS Distro= kinetic Edit the 50-hokuyo.rules ```javascript= $sudo gedit /etc/udev/rules.d/50-hokuyo.rules ``` >KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", MODE="0666", GROUP="dialout", PROGRAM="/opt/ros/kinetic/env.sh rosrun urg_node getID %N q", SYMLINK+="sensors/hokuyo_%c"

# 使用RPLIDAR_A2做gmapping ==學習ROS的過程是痛並快樂著==:smiley: --- ## 下載源碼 :::warning 待新增 ::: ## 新建啟動文件 :::warning 待新增 ::: ## 指令 1. 建地圖 ```javascript= roslaunch turbot_bringup minimal.launch roslaunch turbot_slam laser_gmapping_demo.launch roslaunch turbot_teleop keyboard.launch roslaunch turbot_rviz nav.launch ``` 2. 存地圖(.yaml) ```javascript= rosrun turbot_map saver {map_name} ls ~/map ``` 3. 導航 ```javascript= roslaunch turbot_bringup minimal.launch roslaunch turbot_slam laser_amcl_demo.launch map_