TurtleBot3趣味实验-2.跟随

说明

利用TurtleBot3实现跟随

步骤

注意:需要在无障碍环境进行,只需要使用HLS-LFCD LDS雷达即可

 

2021年以前版本:

[TurtleBot3] 更改配置

vim ~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_lidar.launch

修改前:

跟随1.png

修改后:

跟随2.png

2022年之后版本不需要进行上述替换

[Remote PC]安装依赖包

sudo apt-get install python-pip

sudo pip install -U scikit-learn numpy scipy

sudo pip install --upgrade pip

测试:

[Remote PC] 运行roscore

roscore

[TurtleBot3] 启动burger

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