Ailibot入门教程-测试-测试雷达

说明

• 介绍如何在Ailibot上进行检测雷达能否正常运行

相关设备：

• Ailibot套件，采购地址

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Ailibot] 启动雷达

$ roslaunch ailibot_bringup laser.launch

• [Remote PC] 启动Rviz

$ roslaunch ailibot_rviz view_laser.launch --screen

• 效果图如下：

• 查看/scan发布的频率

$ rostopic hz /scan
subscribed to [/scan]
average rate: 7.676
    min: 0.128s max: 0.137s std dev: 0.00390s window: 8
average rate: 7.675
    min: 0.126s max: 0.139s std dev: 0.00428s window: 15
average rate: 7.680
    min: 0.111s max: 0.152s std dev: 0.00735s window: 23
average rate: 7.669
    min: 0.109s max: 0.152s std dev: 0.00859s window: 31
average rate: 7.682
    min: 0.109s max: 0.152s std dev: 0.00810s window: 38
average rate: 7.679
    min: 0.109s max: 0.152s std dev: 0.00855s window: 46
average rate: 7.685
    min: 0.109s max: 0.152s std dev: 0.00895s window: 54
average rate: 7.669

演示视频