Turtlebot3-waffle_pi入门教程-实现跟随

Turtlebot3/三代机器人 少儿编程 726浏览 0评论
Turtlebot3-waffle-pi教程

Turtlebot3-waffle_pi入门教程-实现跟随

说明:

  • 介绍如何利用Turtlebot3-waffle_pi进行跟随应用

前提准备

  • [Remote PC]安装应用包
$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
$ cd ~/catkin_ws && catkin_make
  • [Remote PC]安装依赖包
$ sudo apt-get install python-pip
$ sudo pip install -U numpy scipy
$ sudo pip install --upgrade pip
$ sudo pip install scikit-learn==0.18.1
  • 注意:需要在无障碍环境进行,只需要使用HLS-LFCD LDS雷达即可
  • [TurtleBot] 更改配置
$ vim ~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_lidar.launch
  • 修改前:

Turtlebot3-waffle_pi入门教程-实现跟随

  • 修改后:

Turtlebot3-waffle_pi入门教程-实现跟随

操作步骤

  • [Remote PC] 运行roscore
$ roscore
  • [TurtleBot] 启动waffle_pi
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
  • [Remote PC] 启动filter
$ roslaunch turtlebot3_follow_filter turtlebot3_follow_filter.launch
  • [Remote PC] 启动跟随
$ roslaunch turtlebot3_follower turtlebot3_follower.launch
  • 视频:

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