Turbot入门教程-实现键盘控制

Turbot入门教程-实现键盘控制

说明：

• 介绍如何通过键盘控制Turbot

步骤：

• 在主机上，新终端，启动minimal.launch

roslaunch turtlebot_bringup minimal.lauch

• 从机上，新终端，启动keyboard_teleop.launch

roslaunch turtlebot_teleop keyboard_teleop.launch

• 或通过SSH登录主机后，在执行上述命令
• 显示效果：

started roslaunch server http://192.168.0.90:33593/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /turtlebot_teleop_keyboard/scale_angular: 1.5
 * /turtlebot_teleop_keyboard/scale_linear: 0.5

NODES
  /
    turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key)

ROS_MASTER_URI=http://192.168.0.90:11311

core service [/rosout] found
process[turtlebot_teleop_keyboard-1]: started with pid [14331]

Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

• 选择相应的键盘值进行控制

  • u前左转，i前进，o前右转

  • j原地左转，k停止，l原地右转

  • m后左转，,后退，.后右转

  • q/z总体速度增减

  • w/x线速增减

  • e/c角速增减