Turtlebot3-waffle_pi入门教程-启动测试

Turtlebot3-waffle_pi入门教程-启动测试

说明：

• 介绍如何启动waffle_pi

步骤：

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动waffle_pi

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC] 启动rviz

$ export TURTLEBOT3_MODEL=waffle_pi
$ roslaunch turtlebot3_bringup turtlebot3_model.launch

• 效果：

• [Remote PC] 查看剩余电量

$ rostopic echo /battery_state

header:
  seq: 1
  stamp:
    secs: 1623917363
    nsecs: 268977973
  frame_id: ''
voltage: 11.0799999237
current: 0.0
charge: 0.0
capacity: 0.0
design_capacity: 1.79999995232
percentage: 0.998198151588
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: []
location: ''
serial_number: ''
---
header:
  seq: 2
  stamp:
    secs: 1623917363
    nsecs: 303977973
  frame_id: ''
voltage: 11.0600004196
current: 0.0
charge: 0.0
capacity: 0.0
design_capacity: 1.79999995232
percentage: 0.996396422386
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: []
location: ''
serial_number: ''

• 其中voltage为当前电压值