1.编译安装turn_on_wheeltec_robot包
rosdep install --from-paths src --ignore-src -r -y
sudo apt-get install ros-melodic-ackermann*
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
2.安装yocs_velocity_smoother
yocs_velocity_smoother
3.设置串口别名
固定串口号(别名)
4.运行
roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch