ROS2与Turbot3-Multi仿真教程-多机行为同步

文章说明

• 本教程主要介绍如何在ROS2仿真进行多机行为同步测试
• 测试环境：Ubuntu 24.04 + ROS2 Jazzy + Gazebo Harmonic

相关设备

• Turbot3-Multi套件: 采购地址

操作步骤

• 新开终端，启动gazebo，且加载empty环境

$ ./sim_scripts/sim_gazebo.sh world:=empty

• 新开终端，默认3台机器人到gazebo上

$ ./sim_scripts/sim_multi_robots.sh

• 启动多机同步键盘控制脚本

$ ./sim_scripts/sim_multi_keyboard_sync.sh

[multi_teleop_sync.py-2] [INFO] [1743129553.355624030] [cmd_vel_relay]: Received /cmd_vel: linear=0.0, angular=0.0
[multi_teleop_sync.py-2] [INFO] [1743129553.385759595] [cmd_vel_relay]: Received /cmd_vel: linear=0.0, angular=0.0
[multi_teleop_sync.py-2] [INFO] [1743129553.447159585] [cmd_vel_relay]: Received /cmd_vel: linear=0.0, angular=0.0
[multi_teleop_sync.py-2] [INFO] [1743129553.487663112] [cmd_vel_relay]: Received /cmd_vel: linear=0.0, angular=0.0
[multi_teleop_sync.py-2] [INFO] [1743129553.526114350] [cmd_vel_relay]: Received /cmd_vel: linear=0.0, angular=0.0

演示视频