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安装 vrpn_client_roscd ~/omnidirectbot_wscatkin_make - DCATKIN_WHITELIST_PACKAGES=”vrpn_client_ros” 下载源码cd ~/omnidirectbot_ws/srcgit clone http://ghproxy.com/https://github.com/ros-drivers/vrpn_client_ros.git编译cd ..catkin_make使用启动roscore...

下载ros源码git clone -b e-puck2_wifi http://ghproxy.com/https://github.com/gctronic/epuck_driver_cpp安装...

单车测试查询机器人IP，通过路由器后台，或者使用serial Moniter来查询IP,参考修改launch文件运行launch文件roslaunch epuck_driver_cpp multi_epuck2.launch机器人蓝灯闪烁，进入受控制模式运行rostopic listrostopic list...

启动控制程序：rosrun epuck_driver_cpp four_points.py...