Turtlebot与Matlab入门教程-控制机器人
说明：
- 介绍如何控制机器人
步骤：
在turtlebot端
- 启动turtlebot
$ roslaunch turtlebot_bringup minimal.launch
- 启动雷达
$ roslaunch rplidar_ros rplidar.launch
在Matlab端
运行myTeleop.m文件
输入ROS_MASTERR_URI，http://192.168.0.93:11311
输入话题，/mobile_base/commands/velocity
按键前，后，左，右，控制机器人运动
代码如下：
function varargout = myTeleop(varargin)
% MYTELEOP MATLAB code for myTeleop.fig
% MYTELEOP, by itself, creates a new MYTELEOP or raises the existing
% singleton*.
%
% H = MYTELEOP returns the handle to a new MYTELEOP or the handle to
% the existing singleton*.
%
% MYTELEOP('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in MYTELEOP.M with the given input arguments.
%
% MYTELEOP('Property','Value',...) creates a new MYTELEOP or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before myTeleop_OpeningFcn gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to myTeleop_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
% instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Edit the above text to modify the response to help myTeleop
% Last Modified by GUIDE v2.5 20-Jun-2017 15:24:11
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @myTeleop_OpeningFcn, ...
'gui_OutputFcn', @myTeleop_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT
% --- Executes just before myTeleop is made visible.
function myTeleop_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to myTeleop (see VARARGIN)
% Choose default command line output for myTeleop
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes myTeleop wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = myTeleop_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Get default command line output from handles structure
varargout{1} = handles.output;
% 声明一些全局变量
% ROS Master URI和Topic name
global rosMasterUri
global teleopTopicName
rosMasterUri = 'http://192.168.1.202:11311';
teleopTopicName = '/cmd_vel';
% 机器人的运行速度
global leftVelocity
global rightVelocity
global forwardVelocity
global backwardVelocity
leftVelocity = 1; % 角速度 (rad/s)
rightVelocity = -1; % 角速度 (rad/s)
forwardVelocity = 0.2; % 线速度 (m/s)
backwardVelocity = -0.2; % 线速度 (m/s)
% 设置ROS Master URI
function URIEdit_Callback(hObject, eventdata, handles)
% hObject handle to URIEdit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of URIEdit as text
% str2double(get(hObject,'String')) returns contents of URIEdit as a double
global rosMasterUri
rosMasterUri = get(hObject,'String')
% --- Executes during object creation, after setting all properties.
function URIEdit_CreateFcn(hObject, eventdata, handles)
% hObject handle to URIEdit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% 设置Topic name
function TopicEdit_Callback(hObject, eventdata, handles)
% hObject handle to TopicEdit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of TopicEdit as text
% str2double(get(hObject,'String')) returns contents of TopicEdit as a double
global teleopTopicName
teleopTopicName = get(hObject,'String')
% --- Executes during object creation, after setting all properties.
function TopicEdit_CreateFcn(hObject, eventdata, handles)
% hObject handle to TopicEdit (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
% 建立连接并初始化ROS publisher
% --- Executes on button press in ConnectButton.
function ConnectButton_Callback(hObject, eventdata, handles)
% hObject handle to ConnectButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global rosMasterUri
global teleopTopicName
global robot
global velmsg
setenv('ROS_MASTER_URI',rosMasterUri)
rosinit
robot = rospublisher(teleopTopicName,'geometry_msgs/Twist');
velmsg = rosmessage(robot);
% 断开连接，关闭ROS
% --- Executes on button press in DisconnectButton.
function DisconnectButton_Callback(hObject, eventdata, handles)
% hObject handle to DisconnectButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
rosshutdown
% 向前
% --- Executes on button press in ForwardButton.
function ForwardButton_Callback(hObject, eventdata, handles)
% hObject handle to ForwardButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global velmsg
global robot
global teleopTopicName
global forwardVelocity
velmsg.Angular.Z = 0;
velmsg.Linear.X = forwardVelocity;
send(robot,velmsg);
latchpub = rospublisher(teleopTopicName, 'IsLatching', true);
%向左
% --- Executes on button press in LeftButton.
function LeftButton_Callback(hObject, eventdata, handles)
% hObject handle to LeftButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global velmsg
global robot
global teleopTopicName
global leftVelocity
velmsg.Angular.Z = leftVelocity;
velmsg.Linear.X = 0;
send(robot,velmsg);
latchpub = rospublisher(teleopTopicName, 'IsLatching', true);
% 向右
% --- Executes on button press in RightButton.
function RightButton_Callback(hObject, eventdata, handles)
% hObject handle to RightButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global velmsg
global robot
global teleopTopicName
global rightVelocity
velmsg.Angular.Z = rightVelocity;
velmsg.Linear.X = 0;
send(robot,velmsg);
latchpub = rospublisher(teleopTopicName, 'IsLatching', true);
% 向后
% --- Executes on button press in BackwardButton.
function BackwardButton_Callback(hObject, eventdata, handles)
% hObject handle to BackwardButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global velmsg
global robot
global teleopTopicName
global backwardVelocity
velmsg.Angular.Z = 0;
velmsg.Linear.X = backwardVelocity;
send(robot,velmsg);
latchpub = rospublisher(teleopTopicName, 'IsLatching', true);
clear;
rosshutdown;
- 效果如下：
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