Turtlebot3-waffle_pi入门教程-实现跟随

Turtlebot3-waffle_pi入门教程-实现跟随

说明：

• 介绍如何利用Turtlebot3-waffle_pi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
$ 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waffle_pi

$ 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

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=66701894&cid=115678559&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>