Ubuntu 14.04下Phantom Omni indigo手控器驱动及教程

https://github.com/jenniferdavid/virtual_truck_trailer.git
https://github.com/hyongju/ROS-assignment-2-potential-field.git

$ sudo apt-get install ros-indigo-youbot-driver-ros-interface
$ sudo apt-get install libcap2-bin
$ sudo setcap cap_net_raw+ep /opt/ros/indigo/lib/youbot_driver_ros_interface/youbot_driver_ros_interface
$ sudo ldconfig /opt/ros/indigo/lib

$ sudo apt-get install ros-indigo-gazebo-ros-control ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-trajectory-controller


$ sudo apt-get install ros-indigo-simulators ros-indigo-youbot-simulation

$ roslaunch youbot_gazebo_robot youbot.launch
// A sample C++ code for assignment #2 
// This is a simple 2D motion planning program using potential field

#define ARRAY_SIZE(array) (sizeof((array))/sizeof((array[0])))
#define MAX_ARRAY_SIZE 100
#define LARGE_NUMBER 10000

#include <ros/ros.h>

#include <iostream>      // to use: std::cout, std::cin, etc
#include <cmath> // to use: atan2, sqrt, pow, etc
#include <iomanip>      // to use: setprecision()
#include <geometry_msgs/Twist.h> 
#include <nav_msgs/Odometry.h>
#include <vector>

// ROS/tf libraries
#include <tf/transform_listener.h> // to use: tf listner
#include <tf/transform_broadcaster.h> // to use: tf broadcaster
#include <tf/transform_datatypes.h> // to use: tf datatypes

// a few empty strings for later use...
std::string base_footprint;
std::string cmd_vel;
std::string odom;

struct Points2D {
 Points2D( double x, double y):_x(x),_y(y)
 {
 }
 double _x , _y;
};

// "motionPlanning" class
class motionPlanning
{
// public functions, variables
public:

// constructor
motionPlanning(ros::NodeHandle& n);

// destructor
~motionPlanning()
{
}