ROS进阶学习手记 10 - 搭建自己的TurtleBot（4）- Nodes of Base Driver

最新推荐文章于 2023-06-19 13:36:48 发布

Sonictl

最新推荐文章于 2023-06-19 13:36:48 发布

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分类专栏：机器人+ROS ROS进阶学习手记

本文链接：https://blog.csdn.net/sonictl/article/details/49994125

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本文记录了ROS进阶学习过程中，针对TurtleBot基座驱动节点的探索。通过启动文件`turtlebot_minimal_create.launch`，分析其节点、主题、消息、发布者和订阅者。探讨如何读取并转换机器人轮速数据来替代陀螺仪数据，以及整合外部陀螺传感器，实现系统协同工作。

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ROS进阶学习手记 10 - 搭建自己的TurtleBot（4）- Nodes of Base Driver

Here we are going to continue playing with the launchfile:[ turtlebot_minimal_create.launch ]

and look into the nodes, topics, messages, publisher, and subscriber about that.

Let's refer the log printed when we start this launchfile here:

SUMMARY  
========  
  
PARAMETERS  
 * /cmd_vel_mux/yaml_cfg_file  
 * /diagnostic_aggregator/analyzers/digital_io/path  
 * /diagnostic_aggregator/analyzers/digital_io/startswith  
 * /diagnostic_aggregator/analyzers/digital_io/timeout  
 * /diagnostic_aggregator/analyzers/digital_io/type  
 * /diagnostic_aggregator/analyzers/mode/path  
 * /diagnostic_aggregator/analyzers/mode/startswith  
 * /diagnostic_aggregator/analyzers/mode/timeout  
 * /diagnostic_aggregator/analyzers/mode/type  
 * /diagnostic_aggregator/analyzers/nodes/contains  
 * /diagnostic_aggregator/analyzers/nodes/path  
 * /diagnostic_aggregator/analyzers/nodes/timeout  
 * /diagnostic_aggregator/analyzers/nodes/type  
 * /diagnostic_aggregator/analyzers/power/path  
 * /diagnostic_aggregator/analyzers/power/startswith  
 * /diagnostic_aggregator/analyzers/power/timeout  
 * /diagnostic_aggregator/analyzers/power/type  
 * /diagnostic_aggregator/analyzers/sensors/path  
 * /diagnostic_aggregator/analyzers/sensors/startswith  
 * /diagnostic_aggregator/analyzers/sensors/timeout  
 * /diagnostic_aggregator/analyzers/sensors/type  
 * /diagnostic_aggregator/base_path  
 * /diagnostic_aggregator/pub_rate  
 * /robot/name  
 * /robot/type  
 * /robot_description  
 * /robot_pose_ekf/freq  
 * /robot_pose_ekf/imu_used  
 * /robot_pose_ekf/odom_used  
 * /robot_pose_ekf/output_frame  
 * /robot_pose_ekf/publish_tf  
 * /robot_pose_ekf/sensor_timeout  
 * /robot_pose_ekf/vo_used  
 * /robot_state_publisher/publish_frequency  
 * /rosdistro  
 * /rosversion  
 * /turtlebot_laptop_battery/acpi_path  
 * /turtlebot_node/bonus  
 * /turtlebot_node/port  
 * /turtlebot_node/update_rate  
 * /use_sim_time  
  
NODES  
  /  
    cmd_vel_mux (nodelet/nodelet)  
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)  
    kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)  
    mobile_base_nodelet_manager (nodelet/nodelet)  
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)  
    robot_state_publisher (robot_state_publisher/robot_state_publisher)  
    turtleb