Turtlebot与Matlab入门教程-打印里程计数据

说明：

• 介绍如何在Turtlebot运动时从中获取、存储和显示里程数据

步骤：

在turtlebot端：

• [turtlebot] 启动turtlebot

roslaunch turtlebot_bringup minimal.launch

在Matlab端：

• 运行plot_turtlebot_odometry.m文件

• 使用setvelocity，turtlebot将向前驱动2秒，并且会获取里程计数据

• 循环运行20次，使得turtlebot慢慢前进

• turtlebot停止前行，绘制里程计数据

• 代码如下：

%Connect to Robot
ipaddress = '192.168.0.93'; % IP address of your robot
tb = turtlebot(ipaddress);

%Get Odometry Data
odom = getOdometry(tb);
resetOdometry(tb)
setVelocity(tb,0.5,'Time',2)
odom = getOdometry(tb)

%Plot Odometry Data Points
odomList = zeros(20,2);
resetOdometry(tb)
for i = 1:20
    odom = getOdometry(tb);
    odomList(i,:) = [odom.Position(1) odom.Position(2)];
        
    if i < 10
        setVelocity(tb,0.25,0.15)
    else
        setVelocity(tb,0.25,-0.15)
    end
    pause(1);
end
plot(odomList(:,1),odomList(:,2))
rosshutdown;