Home » Turtlebot3-waffle-pi入门教程#noetic版# » Turtlebot3-waffle-pi入门教程#noetic版#-启动测试

Turtlebot3-waffle-pi入门教程#noetic版#-启动测试

Turtlebot3-waffle-pi入门教程#noetic版#-启动测试

说明:

  • 本教程介绍如何启动TB3

相关设备

操作步骤

  • [Remote PC] 启动roscore
$ roscore
  • [TurtleBot] 启动burger
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
  • [Remote PC] 启动rviz
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_bringup turtlebot3_model.launch

请输入图片描述

  • [Remote PC] 查看剩余电量
$ rostopic echo /battery_state

header:
  seq: 1
  stamp:
    secs: 1623917363
    nsecs: 268977973
  frame_id: ''
voltage: 11.0799999237
current: 0.0
charge: 0.0
capacity: 0.0
design_capacity: 1.79999995232
percentage: 0.998198151588
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: []
location: ''
serial_number: ''
---
header:
  seq: 2
  stamp:
    secs: 1623917363
    nsecs: 303977973
  frame_id: ''
voltage: 11.0600004196
current: 0.0
charge: 0.0
capacity: 0.0
design_capacity: 1.79999995232
percentage: 0.996396422386
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: []
location: ''
serial_number: ''
  • 其中voltage为当前电压值

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