Turtlebot3-ROS2入门教程-键盘控制

Turtlebot3-ROS2入门教程-键盘控制

说明

• 介绍如何在ROS2机器人控制系统中利用键盘控制turtlebot3

相关设备：

• Turtlebot3-ROS2套件，采购地址

操作步骤

• [TurtleBot] 启动小车

$ ros2 launch turtlebot3_bringup robot.launch.py

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2019-09-03-18-51-00-976565-ubuntu-13776
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [13787]
[INFO] [hlds_laser_publisher-2]: process started with pid [13788]
[INFO] [turtlebot3_ros-3]: process started with pid [13789]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 5 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment caster_back_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!

• [Remote PC] 运行键盘控制节点

$ ros2 run turtlebot3_teleop teleop_keyboard

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

• [Remote PC] 启动Rviz

$ ros2 launch turtlebot3_bringup rviz2.launch.py

• [Remote PC] 查看话题

$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/scan
/sensor_state
/tf
/tf_static

• [Remote PC] 查看服务

$ ros2 service list
/diff_drive_controller/describe_parameters
/diff_drive_controller/get_parameter_types
/diff_drive_controller/get_parameters
/diff_drive_controller/list_parameters
/diff_drive_controller/set_parameters
/diff_drive_controller/set_parameters_atomically
/hlds_laser_publisher/describe_parameters
/hlds_laser_publisher/get_parameter_types
/hlds_laser_publisher/get_parameters
/hlds_laser_publisher/list_parameters
/hlds_laser_publisher/set_parameters
/hlds_laser_publisher/set_parameters_atomically
/launch_ros/describe_parameters
/launch_ros/get_parameter_types
/launch_ros/get_parameters
/launch_ros/list_parameters
/launch_ros/set_parameters
/launch_ros/set_parameters_atomically
/motor_power
/reset
/sound
/turtlebot3_node/describe_parameters
/turtlebot3_node/get_parameter_types
/turtlebot3_node/get_parameters
/turtlebot3_node/list_parameters
/turtlebot3_node/set_parameters
/turtlebot3_node/set_parameters_atomically