Turtlebot4快速入门教程-A1激光雷达检测(含视频)

Turtlebot4快速入门教程-A1激光雷达检测

说明:

• 本教程主要介绍如何检测A1激光雷达

相关设备

• TurtleBot4机器人套件：采购地址

操作步骤

• 默认情况下，TB4会开机自启动A1雷达的ROS程序，不需要重复启动

• [Remote PC] 查看雷达话题数据

$ ros2 topic echo /scan
header:
  stamp:
    sec: 1660106182
    nanosec: 676067364
  frame_id: rplidar_link
angle_min: -3.1241393089294434
angle_max: 3.1415927410125732
angle_increment: 0.008714509196579456
time_increment: 0.00018747818830888718
scan_time: 0.13479681313037872
range_min: 0.15000000596046448
range_max: 12.0
ranges:
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
...

• [Remote PC] 启动可视化界面

$ ros2 launch turtlebot4_viz view_model.launch.py

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=562635787&bvid=BV1hv4y1m79Y&cid=892964772&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>