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

步骤:

  • [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

TurtleBot跟随演示

  • 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:

请输入图片描述

  • 修改后:

请输入图片描述

  • [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
  • 测试:

  • [Remote PC] 运行roscore

$ roscore
  • [TurtleBot] 启动waffle_pi
$ 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
$ cd ~/catkin_ws/src/turtlebot3_applications/turtlebot3_follower/scripts
$ rosrun turtlebot3_follower follower.py
  • 视频:

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标签: turtlebot3-waffle_pi入门教程