ROS2与Ailibot2入门教程-实验-障碍检测

说明

• 介绍如何实现障碍检测

相关设备：

• ailibot2差速系列：采购Ailibot2-D2,采购Ailibot2-D4
• ailibot2全向系列：采购Ailibot2-M4，采购Ailibot2-O3，采购Ailibot2-O4

原理

• 订阅速度话题cmd_vel_raw, 当给定一个速度后前进，直到检测到0.5米内的障碍后，自动停止

步骤

• 小车端，启动底盘

ros2 launch ailibot2_bringup agent.launch.py

• 小车端，启动雷达

ros2 launch ailibot2_bringup laser.launch.py

• pc端，启动发布odom

ros2 launch ailibot2_bringup robot.launch.py

• pc端，启动障碍检测

ros2 run ailibot2_example ailibot2_obstacle_detection

• pc端，启动键盘控制

ros2 run ailibot2_teleop teleop_keyboard.py /cmd_vel:=/cmd_vel_raw

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