Open DunFenTiao opened 6 years ago
$ roscore
上网本新开端口,启动turtlebot $ roslaunch turtlebot_bringup minimal.launch
上网本新开端口,启动gmapping,用于构建地图 $ roslaunch turtlebot_navigation rplidar_gmapping_demo.launch
工作机或上网本新开端口,启动键盘操作Turtlebot $ roslaunch turtlebot_teleop keyboard_teleop.launch
工作机或上网本新开端口,启动rviz,实时查看建图情况 $ roslaunch turtlebot_rviz_launchers view_navigation.launch
ROS中base_link, odom, fixed_frame, target_frame和虚拟大地图map的关系 参考:https://blog.csdn.net/crazyquhezheng/article/details/43346907
语音控制机器人送咖啡, “你好”唤起链接turtlebot, 开启amcl, 和显示 “咖啡”唤起机器人从晨阳和我的位置走到云谷房间中心。
roscore python wakeup.py python listener.py
p.s.其中行走代码在GoToPose(),位置是1.24,-0.665
todo √run navigation to destination √speech control