# wpr_robot_ws

**Repository Path**: robot_workspace/wpr_robot_ws

## Basic Information

- **Project Name**: wpr_robot_ws
- **Description**: 克隆 WPR 系列机器人仿真，进行修改为自己使用的仿真测试环境。
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-20
- **Last Updated**: 2026-01-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## wpr_robot_ws 仓库说明

**说明：**

该仓库克隆 WPR 系列机器人仿真工具



**拉取命令：**

```shell
git clone https://git.toluckykoi.com/ROS_Robot/wpr_robot_ws.git
```



**依赖安装：**

```shell
cd ~/wpr_robot_ws/src/wpr_simulation/scripts
./install_for_melodic.sh
cd ~/wpr_robot_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_melodic.sh
cd ~/wpr_robot_ws/src/waterplus_map_tools/scripts
./install_for_melodic.sh
```



**编译说明：**

```shell
cd wpr_robot_ws
catkin_make
```



常用命令：

```shell
# 简单场景:
roslaunch wpr_simulation wpb_simple.launch

# SLAM环境地图创建:
roslaunch wpr_simulation wpb_gmapping.launch

# 一键保存地图命令:
roslaunch wpr_simulation map_saver.launch

# Navigation导航:
roslaunch wpr_simulation wpb_navigation.launch


# 物品抓取:
roslaunch wpr_simulation wpb_table.launch
rosrun wpb_home_tutorials wpb_home_grab_client

# 测试场景需要在命令后面加上test,如：
roslaunch wpr_simulation wpb_gmapping_test.launch

```