导航点坐标微调 - Githubissues

HuaYuXiao / turtlebot4_navigation_and_arm_control

TurtleBot4室内SLAM+导航+抓取

https://youtu.be/JnZ-MSPzgaY?si=KHV1HAT0MC3tzIA5

MIT License

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导航点坐标微调 #13

Open HuaYuXiao opened 10 months ago

HuaYuXiao commented 10 months ago

[x] 导航点坐标微调，尽量能放在框中心点
[x] 到达目标点后，先Spin旋转
[x] 再Move平动，更接近方块
[ ] #20
[ ] #21

HuaYuXiao commented 10 months ago

tony@iqr-turtlebot4-121:~/EE211_ws/src/tb4_find_pickup_place$ ros2 topic info /cmd_vel
Type: geometry_msgs/msg/Twist
Publisher count: 7
Subscription count: 1

参考教程：

【ROS】实操_话题发布
Turbot与python教程-实现原地旋转

HuaYuXiao commented 10 months ago

需要调整云台俯仰角，因为有时候平移之后，可能会找不到marker。