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    turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

    Package Summary

    This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.

    turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

    Package Summary

    This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.

    turtlebot3: turtlebot3_bringup | turtlebot3_description | turtlebot3_example | turtlebot3_navigation | turtlebot3_slam | turtlebot3_teleop

    Package Summary

    This package provides four TurtleBot3 basic example include move using interactive marker, move and stop using LDS, move to goal position, move to custom routes. The interactions node is that you can control the TurtleBot3 front and back side or rotate to goal position. The obstacle node is that when the robot meets an obstacle, it stops. The patrol node is that TurtleBot3 move to custom route. There are 3 route(square, triangle, circle) in this package. You can add your route and move the TurtleBot3. The pointop node is that you can insert goal position include distance x-axis, y-axis and angluar z-axis.

    ROS Software Maintainer: ROBOTIS

    ROBOTIS e-Manual

    ROS API

    turtlebot3_marker_server

    Subscribed Topics

    turtlebot3_marker_server (visualization_msgs/InteractiveMarkerFeedback)
    • The status of an interactive marker was modified by the user

    Published Topics

    cmd_vel (geometry_msgs/Twist)
    • Control the translational and rotational speed of the robot unit in m/s, rad/s.
    turtlebot3_marker_server/update (visualization_msgs/InteractiveMarkerUpdate)
    • Topic that the top-level message for sending data from the interactive marker server to the client (i.e. rviz).
    turtlebot3_marker_server/update_full (visualization_msgs/InteractiveMarkerInit)
    • Topic that initialize to avoid receiving duplicate data.

    robot_state_publisher

    Subscribed Topics

    joint_states (sensor_msgs/JointState)
    • The state of a set of torque controlled joints.

    Published Topics

    tf (tf2_msgs/TFMessage)
    • Contains the coordinate transformation such as base_footprint and odom.
    tf_static (tf2_msgs/TFMessage)
    • Topic has same format as "/tf", however it is expected that any transform on this topic can be considered true for all time.

    turtlebot3_obstacle

    Subscribed Topics

    scan (sensor_msgs/LaserScan)
    • Topic that confirms the scan values of the LiDAR mounted on the Turtlebot3.

    Published Topics

    cmd_vel (geometry_msgs/Twist)
    • Control the translational and rotational speed of the robot unit in m/s, rad/s.

    turtlebot3_pointop_key

    Subscribed Topics

    odom (nav_msgs/Odometry)
    • Contains the Turtlebot3’s odometry information based on the encoder and IMU.

    Published Topics

    cmd_vel (geometry_msgs/Twist)
    • Control the translational and rotational speed of the robot unit in m/s, rad/s.

    turtlebot3_client

    Action Subscribed Topics

    turtlebot3/result (turtlebot3_example/turtlebot3ActionResult)

    • Result of goal state.

    Action Published Topics

    turtlebot3/goal (turtlebot3_example/turtlebot3ActionGoal)

    • Goal of the patrol route, count and area.

    turtlebot3_server

    Action Subscribed Topics

    turtlebot3_server/goal (turtlebot3_example/turtlebot3ActionGoal)

    • Goal of the patrol route, count and area.

    Action Published Topics

    turtlebot3_server/result (turtlebot3_example/turtlebot3ActionResult)

    • Result of goal state.
    turtlebot3_server/feedback (turtlebot3_example/turtlebot3ActionFeedback)
    • return to current patrol count

    Subscribed Topics

    joint_states (sensor_msgs/JointState)
    • The state of a set of torque controlled joints.
    odom (nav_msgs/Odometry)
    • Contains the Turtlebot3’s odometry information based on the encoder and IMU.

    Wiki: turtlebot3_example (2018-04-06 08:58:11由Gilbert編輯)

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