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Turtlebot3-waffle_pi入门教程-实现跟随

Turtlebot3-waffle_pi入门教程-实现跟随

说明:

  • 介绍如何利用Turtlebot3-waffle_pi进行跟随应用

前提准备

  • [Remote PC]安装应用包
$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs
$ cd ~/catkin_ws && catkin_make
  • [Remote PC]安装依赖包
$ sudo apt-get install python-pip
$ sudo pip install -U  numpy scipy
$ sudo pip install scikit-learn
$ sudo pip install --upgrade pip
  • 注意:需要在无障碍环境进行,只需要使用HLS-LFCD LDS雷达即可

操作步骤

  • [Remote PC] 运行roscore
$ roscore
  • [TurtleBot] 启动waffle_pi
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch set_lidar_frame_id:=odom
  • [Remote PC] 启动filter
$ roslaunch turtlebot3_follow_filter turtlebot3_follow_filter.launch
  • [Remote PC] 启动跟随
$ roslaunch turtlebot3_follower turtlebot3_follower.launch

演示视频

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标签: turtlebot3-waffle_pi入门教程