Turtlebot3-ROS2入门教程-应用-巡逻

Turtlebot3-ROS2入门教程-应用-巡逻

说明

• 本教程介绍如何使用Turtlebot3在ROS2下进行巡逻应用
• 巡逻应用采取action机制来实现

相关设备：

• Turtlebot3-ROS2套件，采购地址

操作步骤

• [TurtleBot] 启动小车

$ ros2 launch turtlebot3_bringup robot.launch.py

• [Remote PC] 运行server端

$ ros2 run turtlebot3_example turtlebot3_patrol_server

• [Remote PC] 运行client端

$ ros2 run turtlebot3_example turtlebot3_patrol_client

TurtleBot3 Circle Patrol
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radius: circle radius (unit: m)
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Input radius: 1  (input a value and press enter)

• 输入相应半径来画圆