Turtlebot与Matlab入门教程-避开障碍物

说明：

• 如何使得Turtlebot向前移动并且当存在障碍物时改变其方向

步骤：

在turtlebot端：

• [turtlebot] 启动Turtlebot

roslaunch turtlebot_bringup minimal.launch

• [turtlebot] 启动雷达

roslaunch rplidar_ros rplidar.launch

在Matlab端：

• 运行avoiding_obstacles.m文件

• 运行循环以向前移动机器人并计算与机器人最近的障碍物。 当障碍物在distanceThreshold的界限内时，机器人转动。 该循环在运行时间20秒后停止。

• 代码如下：

rosshutdown
ipaddress = '192.168.0.14';
rosinit(ipaddress);
robot = rospublisher('/mobile_base/commands/velocity');
velmsg = rosmessage(robot);
laser = rossubscriber('/scan');
scan = receive(laser, 3);
figure;
plot(scan);

spinVelocity = 0.6;
forwardVelocity = 0.1;
backwardVelocity = -0.02
distanceThreshold = 0.6;

tic;
while toc < 20
    % Collect information from laser scan
    scan = receive(laser);
    plot(scan);
    data = readCartesian(scan);
    x = data(:,1);
    y = data(:,2);
    % Compute distance of the closest
    dist = sqrt(x.^2 + y.^2);
    minDist = min(dist);
    % Command robot action
    if minDist < distanceThreshold
        % If close to obstacle, back up slightly and spin
        velmsg.Angular.Z = spinVelocity;
        velmsg.Linear.X = backwardVelocity;
    else
        % Continue on forward path
        velmsg.Linear.X = forwardVelocity;
        velmsg.Angular.Z = 0;
    end
    send(robot,velmsg);
end

clear
rosshutdown