turbot3-4ws四轮转向仿真教程-查看里程数据

说明

• 介绍如何查看里程数据

步骤

• 启动仿真

roslaunch turbot3_4ws_gazebo navigation_simulation.launch

• gazebo效果图

• 终端查看里程
• 里程话题是/four_wheel_steering_controller/odom

rostopic echo /four_wheel_steering_controller/odom

• 效果:

---
header: 
  seq: 41278
  stamp: 
    secs: 828
    nsecs: 122000000
  frame_id: "odom"
child_frame_id: "base_footprint"
pose: 
  pose: 
    position: 
      x: 0.0018054818818496977
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
twist: 
  twist: 
    linear: 
      x: -3.798047836747334e-05
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: -0.0
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
---