1. 环境配置
Ubuntu:18.04
ros: melodic
底盘控制文件启动后,可以通过teleop_twist_keyboard 和 cmd_vel 控制底盘运动
2. 启动一个键盘控制节点:
#安装键盘控制节点
sudo apt-get install ros-melodic-teleop-twist-keyboard
#运行
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
或者源码安装
cd catkin_ws/src
git clone https://github.com/ros-teleop/teleop_twist_keyboard
cd ..
catkin_make
q/z 同时修改线速度和角速度,q 增 z 减。w/x 修改线速度,w 增 x 减。e/c 修改角速度,e 增 c 减。
Reading from the keyboard and Publishing to Twist!
---------------------------
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 :