Turtlebot3-waffle入门教程-实现跟随

Turtlebot3-waffle入门教程-实现跟随

说明：

• 介绍如何利用Turtlebot3-waffle进行跟随应用

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
$ 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 --upgrade pip
$ sudo pip install scikit-learn==0.18.1

• 注意:需要在无障碍环境进行,只需要使用HLS-LFCD LDS雷达即可
• [TurtleBot] 更改配置

$ vim ~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_lidar.launch

• 修改前：

• 修改后：

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [TurtleBot] 启动waffle

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [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

• 视频：

<embed src='http://player.youku.com/player.php/Type/Folder/Fid//Ob//sid/XMjgxMTk3MDgzNg==/v.swf' quality='high' width='800' height='400' align='middle' allowScriptAccess='always' allowFullScreen='true' mode='transparent' type='application/x-shockwave-flash'>