資源簡介
turtlebot上hokuyo和gmapping建圖和amcl導航應用包
完成了hokuyo的gmapping 和amcl配置
代碼片段和文件信息
#?-*-?coding:?utf-8?-*-
from?__future__?import?print_function
import?argparse
import?os
import?stat
import?sys
#?find?the?import?for?catkin‘s?python?package?-?either?from?source?space?or?from?an?installed?underlay
if?os.path.exists(os.path.join(‘/opt/ros/indigo/share/catkin/cmake‘?‘catkinConfig.cmake.in‘)):
????sys.path.insert(0?os.path.join(‘/opt/ros/indigo/share/catkin/cmake‘?‘..‘?‘python‘))
try:
????from?catkin.environment_cache?import?generate_environment_script
except?ImportError:
????#?search?for?catkin?package?in?all?workspaces?and?prepend?to?path
????for?workspace?in?“/home/xx/commonspace/multi-robots/robot_1/devel;/home/xx/commonspace/turtlebot/devel;/home/xx/commonspace/kobuki/devel;/home/xx/commonspace/rocon/devel;/opt/ros/indigo“.split(‘;‘):
????????python_path?=?os.path.join(workspace?‘lib/python2.7/dist-packages‘)
????????if?os.path.isdir(os.path.join(python_path?‘catkin‘)):
????????????sys.path.insert(0?python_path)
????????????break
????from?catkin.environment_cache?import?generate_environment_script
code?=?generate_environment_script(‘/home/xx/commonspace/turtlebot_ws/devel/env.sh‘)
output_filename?=?‘/home/xx/commonspace/turtlebot_ws/build/catkin_generated/setup_cached.sh‘
with?open(output_filename?‘w‘)?as?f:
????#print(‘Generate?script?for?cached?setup?“%s“‘?%?output_filename)
????f.write(‘\n‘.join(code))
mode?=?os.stat(output_filename).st_mode
os.chmod(output_filename?mode?|?stat.S_IXUSR)
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