完成移动移动机器人比赛，从零开始搭建ros框架，实现移动、定位导航、搬运等功能。
参考资料汇总： ROS基础，框架实例ROS移动机器人+上层系统架构分析：https://blog.csdn.net/sinat_33970617/article/details/100134202
移动机器人+软件框架构思：https://zhuanlan.zhihu.com/p/34791852
ROS系统架构（中文wiki）：https://www.cnblogs.com/letisl/p/11869531.html
ROS项目开发流程、框架：https://blog.csdn.net/LOVE1055259415/article/details/80023369
助老服务机器人系统设计及软件架构：https://wenku.baidu.com/view/922b5e88a8956bec0875e398
roswiki:创建package:http://wiki.ros.org/roschina/%E6%95%99%E7%A8%8B/%E5%88%9B%E5%BB%BAPackage
古月居系列总结教程（按需学习）+ROS2探索总结系列：https://www.guyuehome.com/772
gazebo仿真相关：Gazebo教程(turtlebot3通用示例）：https://www.jianshu.com/p/4d8b8327eb9b
https://www.jianshu.com/p/014552bcc04c
https://blog.csdn.net/qq_37668436/article/details/104221075
turtlebot3+多点导航+仿真（重要示例）：https://www.guyuehome.com/10949
smartcar+urdf+rviz（参考建立自己的机器人urdf模型）:https://blog.csdn.net/qq_37668436/article/details/104880873
https://blog.csdn.net/qq_16775293/article/details/88189184
https://blog.csdn.net/qq_16775293/article/details/88189184?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.edu_weight&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.edu_weight
https://blog.csdn.net/weixin_41045354/article/details/103668162?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.edu_weight&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.edu_weight
gazebo多机器人仿真：https://www.guyuehome.com/4889
gazebo+想人陪的母鸡轮小车+仿真控制：https://zhuanlan.zhihu.com/p/129394095
物理仿真参数设置（惯性、碰撞、控制插件）：https://blog.csdn.net/qq_43066145/article/details/104454924
（传感器、地图）https://www.cnblogs.com/linuxAndMcu/p/10876005.html
gazebo_ros_control插件：https://blog.csdn.net/sunbibei/article/details/53665876
gazebo的xacro文件添加各种plugins插件：https://blog.csdn.net/lxlong89940101/article/details/93914247
SLAM，建图cartographer+安装编译参数配置：https://blog.csdn.net/tiancailx/article/details/90757522
四足机器人SLAM仿真+cartographer+激光里程计：https://zhuanlan.zhihu.com/p/63061134
SLAM配置参数+实例：https://blog.csdn.net/mwlwlm/article/details/53576771
思岚雷达+官方文档：http://www.slamtec.com/cn/Support#rplidar-a-series
https://github.com/robopeak/rplidar_ros/wiki
cartographer建图实例：https://www.guyuehome.com/8039
cartographer调参：https://blog.csdn.net/weixin_42232742/article/details/86608913
定位amcl参数配置+实例+评论区讨论：https://www.guyuehome.com/273
amcl介绍：https://blog.csdn.net/x_r_su/article/details/53396564
数据融合定位+robot_localization：https://www.jianshu.com/p/415b288c8f3d
robot_pose_ekf+扩展卡尔曼滤波:http://wiki.ros.org/robot_pose_ekf
https://blog.csdn.net/ethan_guo/article/details/79635575
https://blog.csdn.net/ethan_guo/article/details/79635575
imu_filter_madgwick+IMU滤波:http://wiki.ros.org/imu_filter_madgwick
Navigation导航+路径规划路径规划算法+dijkstra+A*:https://blog.csdn.net/qq91752728/article/details/80000477
导航框架+实例：https://zhuanlan.zhihu.com/p/118510973
欧拉角VS四元数（坐标转换在线工具）：https://quaternions.online/
move_base(roswiki):http://wiki.ros.org/move_base
https://www.guyuehome.com/270
navigation框架+参数配置实例：https://blog.csdn.net/tansir94/article/details/83720740
上下位机通信rosserial_python:http://wiki.ros.org/action/fullsearch/rosserial_python?action=fullsearch&context=180&value=linkto%3A%22rosserial_python%22
rosserial:https://github.com/ros-drivers/rosserial
rosserial,ros_lib移植到STM32：https://blog.csdn.net/qq_36349536/article/details/83617213
STM32f1_rosserial:https://github.com/spiralray/stm32f1_rosserial
移动机器人搭建实例：https://blog.csdn.net/weixin_42957722/article/details/103903536
关键知识点，示例TF变换+激光雷达：https://blog.csdn.net/autolabor/article/details/86492895?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.edu_weight&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.edu_weight
各种路径规划算法+详解实例：https://github.com/zhm-real/PathPlanning
激光里程计+两个包：https://www.jianshu.com/p/34c8cd6b01c4
rf2o激光里程计：https://github.com/MAPIRlab/rf2o_laser_odometry
laser_scan_matcher_to_odom激光里程计改进:https://github.com/numb0824/LaserScanMatcherToOdom/tree/master/laser_scan_matcher_odometry-master
laser_scan_matcher_odometry激光里程计改进：https://github.com/友好的冬瓜/laser_scan_matcher_odometry
laser_scan_matcher激光里程计参数配置：https://blog.csdn.net/qq_25241325/article/details/88603652
realsenseD435i环境配置+IMU标定D435i标定：https://blog.csdn.net/weixin_40628128/article/details/95945945
官网技术资料：https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/
IMU标定（通用）：https://github.com/dpkoch/imu_calib
realsenseD435i RGB标定+IMU标定：https://blog.csdn.net/Hanghang_/article/details/103546033
realsenseD435i 双目标定+IMU标定：https://blog.csdn.net/xiaoxiaoyikesu/article/details/105646064#7_imu_utils_53
参考项目源码：linrobot项目：https://github.com/linorobot/linorobot
塔克机器人资料，
wheeltec平衡小车之家机器人资料，
项目文件夹框架：
SLAM建图命令： roslaunch bobot_slam bobot_slam.launch rosrun bobot_teleop bobot_teleop_key.py 导航命令： roslaunch bobot_navigation bobot_navigation.launch rosrun bobot_navigation bobot_first_second_0922.py rqt_graph: rqt_tf_tree: