安装包依赖
sudo apt-get install ros-indigo-yocs-velocity-smoother
平滑前
roslaunch dashgo_bringup minimal.launch
平滑后
roslaunch dashgo_bringup bringup_smoother.launch
用手机控制,通过对比查看平滑效果。
rostopic echo /smoother_cmd_vel
如果觉得平滑效果不理想,可以通过调整dashgo/dashgo_bringup/config/yocs_velocity_smoother.yaml的参数进行修正。