Ailibot入门教程-测试-测试底盘

Ailibot入门教程-测试-测试底盘

说明

• 介绍如何在Ailibot上进行底盘测试

相关设备：

• Ailibot套件，采购地址

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Ailibot] 启动小车

$ roslaunch ailibot_bringup bringup.launch

• [Remote PC] 启动键盘控制

$ roslaunch ailibot_teleop keyboard.launch

• 根据终端上的控制提示，尝试前后左右移动小车，测试是否能够正常移动

• 如果使用的是麦克纳姆轮底盘，在键盘控制的终端界面中，按住shift键可以进入到全向移动模式

• [Remote PC] 测试持续向前运转

$ rostopic pub /cmd_vel geometry_msgs/Twist -r 10 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]'

• 查看/odom发布的频率

$ rostopic hz /odom
subscribed to [/odom]
average rate: 43.735
    min: 0.000s max: 0.057s std dev: 0.01784s window: 43
average rate: 43.360
    min: 0.000s max: 0.062s std dev: 0.01978s window: 86
average rate: 43.993
    min: 0.000s max: 0.062s std dev: 0.02011s window: 130
average rate: 44.164
    min: 0.000s max: 0.062s std dev: 0.02031s window: 175
average rate: 44.697
    min: 0.000s max: 0.062s std dev: 0.02045s window: 222
average rate: 44.801
    min: 0.000s max: 0.062s std dev: 0.02060s window: 268
average rate: 45.085
    min: 0.000s max: 0.073s std dev: 0.02092s window: 315

• 查看/raw_odom发布的频率

$ rostopic hz /raw_odom
subscribed to [/raw_odom]
average rate: 47.543
    min: 0.000s max: 0.059s std dev: 0.01779s window: 46
average rate: 47.283
    min: 0.000s max: 0.059s std dev: 0.01973s window: 93
average rate: 47.414
    min: 0.000s max: 0.059s std dev: 0.02019s window: 141
average rate: 47.490
    min: 0.000s max: 0.063s std dev: 0.02045s window: 189
average rate: 47.431
    min: 0.000s max: 0.098s std dev: 0.02122s window: 236
average rate: 47.502
    min: 0.000s max: 0.098s std dev: 0.02118s window: 283
average rate: 47.515
    min: 0.000s max: 0.098s std dev: 0.02124s window: 331

演示视频