Turtlebot3-burger入门教程-实现跟随

说明

• 介绍如何利用Turtlebot3-burger进行跟随应用

相关设备

• Turtlebot3-burger套件：采购地址

前提准备

• [Remote PC]安装应用包

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs
$ cd ~/catkin_ws && catkin_make

• [Remote PC]安装依赖包

$ sudo apt-get install python-pip
$ sudo pip install -U  numpy scipy
$ sudo pip install scikit-learn
$ sudo pip install --upgrade pip

• 注意:需要在无障碍环境进行,只需要使用HLS-LFCD LDS雷达即可

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [TurtleBot] 启动burger

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch set_lidar_frame_id:=odom

• [Remote PC] 启动filter

$ roslaunch turtlebot3_follow_filter turtlebot3_follow_filter.launch

• [Remote PC] 启动跟随

$ roslaunch turtlebot3_follower turtlebot3_follower.launch

演示视频