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letax tips

表格斜杠
参考链接
eg：

\usepackage{diagbox}
\diagbox {Year}{Deviation} & Residual Error & Class Ratio Dispersion\\

1 2	\usepackage{diagbox} \diagbox {Year}{Deviation} & Residual Error & Class Ratio Dispersion\\

表格跨页
参考链接
eg：

\usepackage{longtable}
\begin{center}
\begin{longtable}{clc} 
\caption{Symbol}
   \label{table:label}  \\
	\toprule 
 \textbf{Symbol} & \multicolumn{1}{c}{\centering \textbf{Definition}} & \textbf{Unit}\\
	\midrule
$CP$ & Critical Power & W \\[0.2cm]
	\bottomrule
\end{longtable}
\end{center}

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\usepackage{longtable}

\begin{center}

\begin{longtable}{clc}

\caption{Symbol}

\label{table:label} \\

\toprule

\textbf{Symbol} & \multicolumn{1}{c}{\centering \textbf{Definition}} & \textbf{Unit}\\

\midrule

$CP$ & Critical Power & W \\[0.2cm]

\bottomrule

\end{longtable}

\end{center}

图片强制固定
参考链接

\usepackage{graphicx} 
\usepackage{float}
\begin{figure}[H] %加H是为了固定图片位置
\centering
\includegraphics[width=1.0\linewidth,height=0.2\textheight]{图片名称.png}
\caption*{图片标题}
\end{figure}

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\usepackage{graphicx}

\usepackage{float}

\begin{figure}[H] %加H是为了固定图片位置

\centering

\includegraphics[width=1.0\linewidth,height=0.2\textheight]{图片名称.png}

\caption*{图片标题}

\end{figure}

子图
参考链接（和下列示例方法不一样）
示例代码为2*3即2行三列代码
\linewidth为一行的宽度，如下面代码所示，若要在一行放三张照片则每张照片需要<=1/3行宽，设置{0.3\linewidth}就需要根据你一行有多少照片而定。
\textwidth则无需特别修改。
若要换行图片则直接加一行空行就行。
eg:

\begin{figure}[H]
\centering
\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{power wind friction.png}
\caption{The influence of drag coefficient on power}\label{subfig:left}
\end{subfigure}
\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{v wind friction.png}
\caption{The influence of drag coefficient on velocity}\label{subfig:right}
\end{subfigure}
\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{time wind friction.png}
\caption{The influence of drag coefficient on time to finish racing}
\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{power wind direction.png}
\caption{The influence of wind direction on power}\label{subfig:left}
\end{subfigure}
\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{v wind direction.png}
\caption{The influence of wind direction on velocity}\label{subfig:right}
\end{subfigure}
\begin{subfigure}[b]{0.3\linewidth}
\includegraphics[width=\textwidth]{time wind direction.png}
\caption{The influence of wind direction on time to finish racing}
\end{subfigure}
\caption{The influence of drag coefficient}\label{fig:subfigures}
\end{figure}

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\begin{figure}[H]

\centering

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{power wind friction.png}

\caption{The influence of drag coefficient on power}\label{subfig:left}

\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{v wind friction.png}

\caption{The influence of drag coefficient on velocity}\label{subfig:right}

\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{time wind friction.png}

\caption{The influence of drag coefficient on time to finish racing}

\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{power wind direction.png}

\caption{The influence of wind direction on power}\label{subfig:left}

\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{v wind direction.png}

\caption{The influence of wind direction on velocity}\label{subfig:right}

\end{subfigure}

\begin{subfigure}[b]{0.3\linewidth}

\includegraphics[width=\textwidth]{time wind direction.png}

\caption{The influence of wind direction on time to finish racing}

\end{subfigure}

\caption{The influence of drag coefficient}\label{fig:subfigures}

\end{figure}

树莓派4b ros学习

环境安装

ubuntu20.04server官方版本
安装Ubuntu-mate-desktop和vnc
sudo apt install ubuntun-mate-core ubuntu-mate-desktop
sudo apt install x11vnc
x11vnc -storepasswd
x11vnc -usepw
安装ros
ubuntu20.04安装ros
rosdep安装方法1
rosdep安装方法2参考方法1视频，把网址全部换为镜像

创立工作空间

mkdir -p ~/__name__/src
cd ~/__name__/src
catkin_init__workspace
cd ..
catkin_make
source devel/setup.bash
ench $ROS_PACKAGE_PATH #check path

创建、编译功能包

创建工作包

cd ~/__name__/src
catkin_create_pkg [depend1] [depend2] [depand3]

depends

roscpp#c++
rospy#python
std_msgs
turtlesim
geometry_msgs

编译功能包

cd ..
catkin_make
source ~/__name__/devel/setup.bash

测试发布者代码c++

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "__name__"); //ROS节点初始化
    ros::NodeHandle n;  //创建节点句柄
    ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); //创建一个Publisher，发布名为/turtle/cmd_vel的topic，消息类型为geometry_msgs::twist,队列长度10
    ros::Rate loop_rate(10);

    int count = 0;
    while(ros::ok())
    {
        //初始化geometry_msgs::Twis类型的消息
        geometry_msgs::Twist vel_msg;
        vel_msg.linear.x=0.5;
        vel_msg.angular.z=0.2;
        //发布消息
        turtle_vel_pub.publish(vel_msg);
        ROS_INFO("xxx");
        loop_rate.sleep();
    }
    
    return 0;
}

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#include <ros/ros.h>

#include <geometry_msgs/Twist.h>

int main(int argc, char **argv)

{

ros::init(argc, argv, "__name__"); //ROS节点初始化

ros::NodeHandle n; //创建节点句柄

ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10); //创建一个Publisher，发布名为/turtle/cmd_vel的topic，消息类型为geometry_msgs::twist,队列长度10

ros::Rate loop_rate(10);

int count = 0;

while(ros::ok())

{

//初始化geometry_msgs::Twis类型的消息

geometry_msgs::Twist vel_msg;

vel_msg.linear.x=0.5;

vel_msg.angular.z=0.2;

//发布消息

turtle_vel_pub.publish(vel_msg);

ROS_INFO("xxx");

loop_rate.sleep();

}

return 0;

}

测试发布者代码python

import rospy
from geometry_msgs.msg import Twist
def velocity_pubilisher():
    rospy.init_node('__name__',anonymus=True) # ROS节点初始化
    turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel',Twist,queue_size=10) # 创建一个Publisher，发布为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist,队列长度为10
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        vel_msg = Twist()
        vel_msg.linear.x = 0.5
        vel_msg.angular.z = 0.2
        turtle.vel_pub.publish(vel_msg)
        rospy.loginfo("xxx")
        rate.sleep()

if __name__=="__main__":
    try:
        velocity_pubilisher()
    except rospy.ROSInterruptException
        pass

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import rospy

from geometry_msgs.msg import Twist

def velocity_pubilisher():

rospy.init_node('__name__',anonymus=True) # ROS节点初始化

turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel',Twist,queue_size=10) # 创建一个Publisher，发布为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist,队列长度为10

rate = rospy.Rate(10)

while not rospy.is_shutdown():

vel_msg = Twist()

vel_msg.linear.x = 0.5

vel_msg.angular.z = 0.2

turtle.vel_pub.publish(vel_msg)

rospy.loginfo("xxx")

rate.sleep()

if __name__=="__main__":

try:

velocity_pubilisher()

except rospy.ROSInterruptException

pass

测试订阅者代码c++

#include <ros/ros.h>
#include <turtlesim/Pose.h>

void poseCallback(const turtle::Pose::ConstPtr& msg){
    ROS_INFO("%0.6f,%0.6f",msg->x,msg->y);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "__name__"); //ROS节点初始化
    ros::NodeHandle n;  //创建节点句柄
    ros::Subscriber pose_sub = n.Subscribe("/turtle1/pose",10,poseCallback); //创建一个Publisher，订阅名为/turtle/pose的topic，注册回调函数poseCallback
    
    ros::spin();

    return 0;
}

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#include <ros/ros.h>

#include <turtlesim/Pose.h>

void poseCallback(const turtle::Pose::ConstPtr& msg){

ROS_INFO("%0.6f,%0.6f",msg->x,msg->y);

}

int main(int argc, char **argv)

{

ros::init(argc, argv, "__name__"); //ROS节点初始化

ros::NodeHandle n; //创建节点句柄

ros::Subscriber pose_sub = n.Subscribe("/turtle1/pose",10,poseCallback); //创建一个Publisher，订阅名为/turtle/pose的topic，注册回调函数poseCallback

ros::spin();

return 0;

}

测试订阅者代码python

import rospy
from turtlesim.msg import Pose

def poseCallback(msg):
    rospy.loginfo("%0.9f,%0.6f",msg.x,msg.y)

def pose_subscribe():
    rospy.init_node('__name__',anonymus=True) # ROS节点初始化
    rospy.Subscriber('/turtle1/pose',Pose,poseCallback) # 创建一个Publisher，发布为/turtle1/pose的topic，注册回调函数possCallback
    rospy.spin()

if __name__=="__main__":
    pose_subscribe()

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import rospy

from turtlesim.msg import Pose

def poseCallback(msg):

rospy.loginfo("%0.9f,%0.6f",msg.x,msg.y)

def pose_subscribe():

rospy.init_node('__name__',anonymus=True) # ROS节点初始化

rospy.Subscriber('/turtle1/pose',Pose,poseCallback) # 创建一个Publisher，发布为/turtle1/pose的topic，注册回调函数possCallback

rospy.spin()

if __name__=="__main__":

pose_subscribe()

配置Cmakelist.txt

将以下代码放置于Cmakelist.txt build中
add_executable(__name__ src/__name__.cpp)
target_link_libraries(__name__ ${catkin_LIBRARIES})

编译并运行

cd ~/__name__
catkin_make
source devel/setup.bash
roscore
rosrun xxx xxx

自定义话题消息

定义msg文件
在package.xml添加功能包依赖
在Cmakelist.txt添加编译选项
编译生成语言相关文件

ROS学习笔记 1

内容为学长笔记，参考ros官网（待放链接）

常用工具栏：
单击Tab：自动补充代码行
Ctrl + Shift + T：打开终端
Ctrl + Z：关闭节点/进程

7.6
1.1基础功能
打开终端（梦开始的地方）：$ roscore
工作空间（写代码的地方）：
source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash –extend
source ~/tianbot_ws/devel/setup.bash –extend
source ~/study_ws/devel/setup.bash –extend
source ~/turtlebot_ws/setup.bash –extend
source ~/manipulation_ws/setup.bash –extend

打开小海龟节点：$ rosrun turtlesim turtlesim_node

使用键盘控制小海龟：$ rosrun turtlesim turtle_teleop_key

1.2Turtlebot gazebot仿真演示
打开gazebo地图：$ roslaunch turtlebot_gazebo turtlebot_world.launch

打开相应键盘控制程序：$ roslaunch turtlebot_teleop keyboard_teleop.launch

1.3Turtlebot gazebo建图演示
打开乌龟地图：$ roslaunch turtlebot_gazebo turtlebot_world.launch

打开机器人建图程序：$ roslaunch turtlebot_gazebo gmapping_demo.launch

打开rviz可视化界面：$roslaunch turtlebot_rviz_launchers view_navigation.launch

启动键盘控制节点：$ roslaunch turtlebot_teleop keyboard_teleop.launch

保存地图：rosrun map_server map_saver -f mymap

1.4ROS导航演示
打开乌龟地图：$ roslaunch turtlebot_gazebo turtlebot_world.launch

启动乌龟机器人定位导航节点：
$ roslaunch turtlebot_gazebo amcl_demo.launch

$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/tianbot/mymap.yaml

打开rviz可视化界面：
$ roslaunch turtlebot_rviz_launchers view_navigation.launch
（使用2D Nav Goal 进行目标点的移动）

1.5 Turtlebot Stage仿真演示
参考网站：
http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Customizing%20the%20Stage%20Simulator

1.6 Turtlebot3 Gazebo仿真演示
打开终端启动仿真环境：
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
或者
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch

启动键盘控制节点：
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

1.7 Turtlebot3 Gazebo建图演示
启动仿真环境：
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

启动建图功能节点：
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
（slam的算法有很多，这里我们使用的是gmapping，如果想使用其他的slam算法，修改启动命令中的对应参数。）
启动键盘控制节点：
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

保存地图：
$ rosrun map_server map_saver -f ~/map
1.8 Turtlebot3 Gazebo导航演示
启动Gazebo仿真环境：
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

启动导航功能节点
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/tianbot/map.yaml
（这里加载的地图文件是上一章节保存的，这里一定要写绝对路径，如果你写map_file:=～/map.yaml，将不会运行成功。）

1.9 Husky Gazebo仿真演示
启动Gazebo仿真环境：
$ roslaunch husky_gazebo husky_playpen.launch
发布控制命令：
（husky接收的速度控制话题是/cmd_vel，我们在这里使用终端循环发送指令的方式进行控制，如果您感兴趣可以自己写控制节点，也可以购买手柄控制器来进行控制。）
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist “linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0″
（前三个xyz：各坐标轴的线速度；后三个xyz：角速度）

1.10 Franka Panda仿真演示
Franka Panda是一个六轴工业机械臂，ROS2GO中已经预置安装包，本示例提供一完整的仿真演示例程，给ROS机械臂开发学习提供借鉴。
启动rviz可视化操作环境：
$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

根据以下步骤配置rviz环境
点击’add’添加’MotionPlanning’可视化选项；
2.修改’Global Options’可视化选项中’Fixed Frame’值为’panda_link0′;
3.修改’MotionPlanning’可视化选项中’Robot Description’值为’robot_description’；
4.修改’MotionPlanning’可视化选项中’Planning Scene Topic’值为’/planning_scene’；
5.修改’MotionPlanning’可视化选项中’Planning Request’中的’Planning Group’值为’panda_arm’；
6.修改’MotionPlanning’可视化选项中’Planned Path’中的’Trajectory Topic’ 为’/move_group’；
第一步执行完后，并不会自动加载’MotionPlanning’插件，需要我们点击’add’添加，并且修改相关配置。用鼠标拖拽rviz机械臂末端来指定规划位置，点击‘Plan’按钮规划，点击’Plan and Execute‘规划后即刻执行。

（六自由度机械臂官网）
http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

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