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Turbot-AI多线入门教程-控制-实现键盘控制

Turbot-AI多线入门教程-控制-实现键盘控制

说明:

  • 介绍如何通过键盘控制Turbot

步骤:

  • [turbot]新终端,启动底盘
roslaunch turbot_bringup minimal.launch
  • [turbot/pc]新终端,启动键盘
roslaunch turbot_teleop keyboard.launch
  • 显示效果:
started roslaunch server http://192.168.0.90:33593/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /turtlebot_teleop_keyboard/scale_angular: 1.5
 * /turtlebot_teleop_keyboard/scale_linear: 0.5

NODES
  /
    turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key)

ROS_MASTER_URI=http://192.168.0.90:11311

core service [/rosout] found
process[turtlebot_teleop_keyboard-1]: started with pid [14331]

Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
  • 选择相应的键盘值进行控制

    • u前左转,i前进,o前右转

    • j原地左转,k停止,l原地右转

    • m后左转,,后退,.后右转

    • q/z总体速度增减

    • w/x线速增减

    • e/c角速增减

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标签: turbot-ai入门教程