Turbot入门教程-实现键盘控制
说明:
介绍如何通过键盘控制Turbot
步骤:
在主机上,新终端,启动minimal.launch
roslaunch turtlebot_bringup minimal.lauch
从机上,新终端,启动keyboard_teleop.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
或通过SSH登录主机后,在执行上述命令
显示效果:
started roslaunch server http://192.168.0.90:33593/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /turtlebot_teleop_keyboard/scale_angular: 1.5 * /turtlebot_teleop_keyboard/scale_linear: 0.5 NODES / turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key) ROS_MASTER_URI=http://192.168.0.90:11311 core service [/rosout] found process[turtlebot_teleop_keyboard-1]: started with pid [14331] Control Your Turtlebot! --------------------------- Moving around: u i o j k l m , . q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% space key, k : force stop anything else : stop smoothly
选择相应的键盘值进行控制
u前左转,i前进,o前右转
j原地左转,k停止,l原地右转
m后左转,,后退,.后右转
q/z总体速度增减
w/x线速增减
e/c角速增减
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