ROS2与Turbot3-Multi多机协同教程-多机行为同步

文章说明

• 本教程主要介绍如何使用Turbot3-Multi套件进行多机同步键盘控制的例程测试

相关设备

• Turbot3-Multi套件：采购地址

操作步骤

• [NUC] 关闭此前打开的ros程序，以免造成冲突

$ ./multi_scripts/multi_kill.sh
$ ./multi_scripts/server_kill.sh

• [NUC] 启动多台机器人

# 根据你当前机器人的数量选择对应的命令
# 默认是启动三台机器人 
$ ./multi_scripts/multi_robot.sh

• [NUC] 检查机器人是否正常启动

$ ros2 topic list
/parameter_events
/rosout
/tb3_0/battery_state
/tb3_0/cmd_vel
/tb3_0/imu
/tb3_0/joint_states
/tb3_0/magnetic_field
/tb3_0/odom
/tb3_0/robot_description
/tb3_0/scan
/tb3_0/sensor_state
/tb3_1/battery_state
/tb3_1/cmd_vel
/tb3_1/imu
/tb3_1/joint_states
/tb3_1/magnetic_field
/tb3_1/odom
/tb3_1/robot_description
/tb3_1/scan
/tb3_1/sensor_state
/tb3_2/battery_state
/tb3_2/cmd_vel
/tb3_2/imu
/tb3_2/joint_states
/tb3_2/magnetic_field
/tb3_2/odom
/tb3_2/robot_description
/tb3_2/scan
/tb3_2/sensor_state
/tf
/tf_static

• [NUC] 启动多机同步键盘控制脚本

$ ./multi_scripts/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