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  • teleop_twist_keyboard.tar.gz

    2019-12-18 20:12:41
    键盘控制,放在工作空间的src目录下,可以用于发布/cmd_vel 官方的代码包 亲测可用 用之前请先修改.py文件的权限
  • 在ROS上使用teleop_twist_keyboard功能包控制小车时只有部分方向控制指令有效,可能是什么原因导致的呢? <p><img alt="" height="263" src=...
  • [rospack] Error: package ‘teleop_twist_keyboard’ not found 解决方案: 1.cd ~/catkin_ws/src(如果没有这个目录先在工作目录下创建工作空间:mkdir -p catkin_ws/src) 2.git clone ...

    [rospack] Error: package ‘teleop_twist_keyboard’ not found

    解决方案:
    1.cd ~/catkin_ws/src(如果没有这个目录先在工作目录下创建工作空间:mkdir -p catkin_ws/src
    2.git clone https://github.com/ros-teleop/teleop_twist_keyboard(一定要在src目录下)
    3.cd ~/catkin_ws
    4.catkin_make
    5.source ~/catkin_ws/devel/setup.bash(把这句话填写在 .bashrc 文件里)
    6.source ~/.bashrc

    展开全文
  • 通过ssh 连接到机器人后输入$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py 报错:cpickle.unpicklingerror:invalid load key.‘n'
  • rosrun teleop_twist_keyboard teleop_twist_keyboard.py 发现报错。 找不到该包。 解决: 1、进入工作空间的src下,例如: cd ros/demo01/src【demo01是工作空间】 如果没有则创建。【mkdir -p demo01/src...

    在ubuntu20.4的终端运行

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

    发现报错。

     找不到该包。

    解决:

    方法1:

    直接下载

    sudo apt-get install ros-noetic-teleop-twist-keyboard
    

    noetic是ubuntun20.4对应的ros版本。

    就可以在/opt/ros/noetic/share路径下找到该文件。

    方法2:

    1、进入工作空间的src下,例如:

    cd ros/demo01/src【demo01是工作空间】

    如果没有则创建。【mkdir -p demo01/src】

    2、在src路径下,输入

    git clone https://github.com/ros-teleop/teleop_twist_keyboard

     这里有可能会不成功,多试几次。

    3、在工作空间路径下 catkin_make

    4、回到/home 目录,按ctrl+h,找到.bsahrc

    填入

    source /xxx/xxx/xxx/demo01/devel/setup.bash

     demo01是工作空间

    5、source ~/.bashrc

     6、再次输入

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py

    这个功能包就下载到 demo01的工作空间了,并且也配置了环境变量,可以在任意终端打开。

    展开全文
  • teleop_twist_keyboard
  • 正常情况下不是应该teleop_twist_keyboard发布/cmd_vel的话题吗?为什么我这里会显示等待订阅/cmd_vel的话题呢?
  • 当我们按下键盘时,teleop_twist_keyboard 包会发布 /cmd_vel 主题发布速度 我们在 base_controller 节点订阅这个话题,接收速度数据,在转换成与底盘通信的格式,然后写入串口 当小车底盘接收到串口发来的速度后...

    控制原理

    1.按下键盘时,teleop_twist_keyboard Package发布名为 /cmd_vel 的Topic

    2.创建一个Package,创建 base_controller 节点订阅这个话题,接收速度数据,在转换成与底盘通信的格式,然后写入串口

    3.当小车底盘接收到串口发来的速度后,就控制电机运转,从而实现键盘控制小车的移动

    测试:

    1、打开键盘

    # rosrun teleop_twist_keyboard teleop_twist_keyboard.py
    

    2、运行功能包

    #rosrun base_controller base_controller
    

    ps: 查看Twist发布的cmd_vel话题

    # rostopic list
    # rostopic echo /cmd_vel
    

    必须保证USB转串口线连接在树莓派ttyUSB1上

    ls -l /dev |grep ttyUSB  #查看USB口
    

    3、在teleop_twist_keyboard上按键进行控制
    teleop_twist_keyboard有两种控制方式:1.普通模式 2.全向模式
    本项目采用四全向轮故使用模式2(大写锁定可启动)。

    步骤:

    0、准备工作:

    cd ~/catkin_ws/src
    git clone https://github.com/Forrest-Z/teleop_twist_keyboard.git
    git clone https://github.com/Forrest-Z/serial.git
    

    1、创建创建一个Package #一定要到catkin_ws/src 文件夹下进行创建!

    # catkin_create_pkg base_controller std_msgs rospy roscpp
    

    创建时需要添加依赖,ROS会自动在package.xml 文件里添加这些依赖

    2、写一个小Node(cpp)
    在base_controller/src 目录下创建base_controller.cpp

    # roscd base_controller
    # touch base_controller.cpp
    # gedit base_controller.cpp 
    

    代码:

    /****************************************************
    ROS Robot control base on serial
    Making sure ttyUSB1 !!! 
    function :
    1.transmit control conmmand to control robot moving 
    2.Subscribe /cmd_vel(keyboard transmit)
       Twist msgs 
    serial commend:
    14 Byte:[linear_speed_X 4 Byte][linear_speed_Y 4 Byte][angular_speed_Z 4 4Byte][end "\r\n" 2 Byte]
    ****************************************************/
    
    #include "ros/ros.h" 
    #include <geometry_msgs/Twist.h>
    
    #include <string>
    #include <iostream>
    #include <cstdio>
    #include <unistd.h>
    #include <math.h>
    #include "serial/serial.h"
    
    using std::string;
    using std::exception;
    using std::cout;
    using std::cerr;
    using std::endl;
    using std::vector;
    
    float linear_temp_x=0,linear_temp_y=0,angular_temp_z=0;
    
    unsigned char data_terminal0=0x0d;  //   "/r"
    unsigned char data_terminal1=0x0a;  //   "/n"
    unsigned char speed_data[14]={0} ;    //serial data
    
    union floatData
    {
      float d;
      unsigned char data[4];
    }linear_speed_x,linear_speed_y,angular_speed_z;
    
    void callback(const geometry_msgs::Twist & cmd_input) //Subscribe Twist
    {
     string port("/dev/ttyUSB0");
     unsigned long baud = 115200;
     serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1000));
    
     linear_temp_x  = cmd_input.linear.x;
     linear_temp_y  = cmd_input.linear.y;
     angular_temp_z = cmd_input.angular.z;
    
     linear_speed_x.d = linear_temp_x ;
     linear_speed_y.d = linear_temp_y ;
     angular_speed_z.d= angular_temp_z;
    
     for(int i=0;i<4;i++)
      {
        speed_data[i]   = linear_speed_x.data[i] ;
        speed_data[i+4] = linear_speed_y.data[i] ;
        speed_data[i+8] = angular_speed_z.data[i];
      }
     speed_data[12]=data_terminal0;
     speed_data[13]=data_terminal1;
    
     //write to serial
     my_serial.write(speed_data,14);
    }
    
    int main(int argc, char **argv)
    {
     string port("/dev/ttyUSB0");
     unsigned long baud = 115200;
     serial::Serial my_serial(port,baud,serial::Timeout::simpleTimeout(1000));
    
     ros::init(argc, argv, "base_controller"); //init Node
     ros::NodeHandle n; 
    
     ros::Subscriber sub = n.subscribe("cmd_vel", 20, callback);
     ros::spin();
    
     return 0;
    }
    
    

    修改 CMakeLists:

    cmake_minimum_required(VERSION 2.8.3)
    project(base_controller)
    
    find_package(catkin REQUIRED COMPONENTS
      roscpp
      rospy
      std_msgs
      message_generation
      serial
    )
    
    
    catkin_package(
      CATKIN_DEPENDS roscpp rospy std_msgs
    )
    
    include_directories(
      ${catkin_INCLUDE_DIRS}
      ${serial_INCLUDE_DIRS}
    )
    
    
    add_executable(base_controller src/base_controller.cpp)
    
    
    
    ## Specify libraries to link a library or executable target against
    target_link_libraries(base_controller ${catkin_LIBRARIES})
    

    编译(catkin_ws 目录下)

    # catkin_make
    

    节点创建结束

    到此,已经可以使用文首测试模块进行测试。







    新:添加launch文件

    功能

    使 Node:teleop_twist_keyboard 和 base_controller 同时启动

    步骤
    1、创建launch

    # roscd base_controller
    # mkdir launch
    # cd launch
    # gedit keycontrol.launch
    

    2、编辑如下

    
    
    
    
    
    展开全文
  • teleop_twist_keyboard Generic Keyboard Teleop for ROS Launch Run. rosrun teleop_twist_keyboard teleop_twist_keyboard.py With custom values. rosrun teleop_twist_keyboard teleop_twist_keyboard.py _...
  • 在通过ssh连接ros机器人后,输入rosrun teleop_twist_keyboard teleop_twist_keyboard.py运行失败,出现如下: 报错cpickle.unpicklingerror:invalid load key.‘n'
  • turtle_teleop_key相关

    2020-03-27 18:36:49
    https://answers.ros.org/question/322368/looking-turtle_teleop_key-script-in-python/ https://docs.ros.org/melodic/api/turtlesim/html/teleop__turtle__key_8cpp_source.html https://github.com/ros-...

    相近的三个链接
    https://answers.ros.org/question/322368/looking-turtle_teleop_key-script-in-python/
    https://docs.ros.org/melodic/api/turtlesim/html/teleop__turtle__key_8cpp_source.html
    https://github.com/ros-teleop/teleop_tools/blob/kinetic-devel/key_teleop/scripts/key_teleop.py

    teleop_turtle_key.cpp

     #include <ros/ros.h>
     #include <geometry_msgs/Twist.h>
     #include <signal.h>
     #include <stdio.h>
     #ifndef _WIN32
     # include <termios.h>
     # include <unistd.h>
     #else
     # include <windows.h>
     #endif
     
     #define KEYCODE_RIGHT 0x43
     #define KEYCODE_LEFT 0x44
     #define KEYCODE_UP 0x41
     #define KEYCODE_DOWN 0x42
     #define KEYCODE_B 0x62
     #define KEYCODE_C 0x63
     #define KEYCODE_D 0x64
     #define KEYCODE_E 0x65
     #define KEYCODE_F 0x66
     #define KEYCODE_G 0x67
     #define KEYCODE_Q 0x71
     #define KEYCODE_R 0x72
     #define KEYCODE_T 0x74
     #define KEYCODE_V 0x76
     
     class KeyboardReader
     {
     public:
       KeyboardReader()
     #ifndef _WIN32
         : kfd(0)
     #endif
       {
     #ifndef _WIN32
         // get the console in raw mode
         tcgetattr(kfd, &cooked);
         struct termios raw;
         memcpy(&raw, &cooked, sizeof(struct termios));
         raw.c_lflag &=~ (ICANON | ECHO);
         // Setting a new line, then end of file
         raw.c_cc[VEOL] = 1;
         raw.c_cc[VEOF] = 2;
         tcsetattr(kfd, TCSANOW, &raw);
     #endif
       }
       void readOne(char * c)
       {
     #ifndef _WIN32
         int rc = read(kfd, c, 1);
         if (rc < 0)
         {
           throw std::runtime_error("read failed");
         }
     #else
         for(;;)
         {
           HANDLE handle = GetStdHandle(STD_INPUT_HANDLE);
           INPUT_RECORD buffer;
           DWORD events;
           PeekConsoleInput(handle, &buffer, 1, &events);
           if(events > 0)
           {
             ReadConsoleInput(handle, &buffer, 1, &events);
             if (buffer.Event.KeyEvent.wVirtualKeyCode == VK_LEFT)
             {
               *c = KEYCODE_LEFT;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == VK_UP)
             {
               *c = KEYCODE_UP;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == VK_RIGHT)
             {
               *c = KEYCODE_RIGHT;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == VK_DOWN)
             {
               *c = KEYCODE_DOWN;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x42)
             {
               *c = KEYCODE_B;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x43)
             {
               *c = KEYCODE_C;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x44)
             {
               *c = KEYCODE_D;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x45)
             {
               *c = KEYCODE_E;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x46)
             {
               *c = KEYCODE_F;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x47)
             {
               *c = KEYCODE_G;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x51)
             {
               *c = KEYCODE_Q;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x52)
             {
               *c = KEYCODE_R;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x54)
             {
               *c = KEYCODE_T;
               return;
             }
             else if (buffer.Event.KeyEvent.wVirtualKeyCode == 0x56)
             {
               *c = KEYCODE_V;
               return;
             }
           }
         }
     #endif
       }
       void shutdown()
       {
     #ifndef _WIN32
         tcsetattr(kfd, TCSANOW, &cooked);
     #endif
       }
     private:
     #ifndef _WIN32
       int kfd;
       struct termios cooked;
     #endif
     };
     
     KeyboardReader input;
     
     class TeleopTurtle
     {
     public:
       TeleopTurtle();
       void keyLoop();
     
     private:
     
       
       ros::NodeHandle nh_;
       double linear_, angular_, l_scale_, a_scale_;
       ros::Publisher twist_pub_;
       
     };
     
     TeleopTurtle::TeleopTurtle():
       linear_(0),
       angular_(0),
       l_scale_(2.0),
       a_scale_(2.0)
     {
       nh_.param("scale_angular", a_scale_, a_scale_);
       nh_.param("scale_linear", l_scale_, l_scale_);
     
       twist_pub_ = nh_.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 1);
     }
     
     void quit(int sig)
     {
       (void)sig;
       input.shutdown();
       ros::shutdown();
       exit(0);
     }
     
     
     int main(int argc, char** argv)
     {
       ros::init(argc, argv, "teleop_turtle");
       TeleopTurtle teleop_turtle;
     
       signal(SIGINT,quit);
     
       teleop_turtle.keyLoop();
       quit(0);
       
       return(0);
     }
     
     
     void TeleopTurtle::keyLoop()
     {
       char c;
       bool dirty=false;
     
       puts("Reading from keyboard");
       puts("---------------------------");
       puts("Use arrow keys to move the turtle. 'q' to quit.");
     
     
       for(;;)
       {
         // get the next event from the keyboard  
         try
         {
           input.readOne(&c);
         }
         catch (const std::runtime_error &)
         {
           perror("read():");
           return;
         }
     
         linear_=angular_=0;
         ROS_DEBUG("value: 0x%02X\n", c);
       
         switch(c)
         {
           case KEYCODE_LEFT:
             ROS_DEBUG("LEFT");
             angular_ = 1.0;
             dirty = true;
             break;
           case KEYCODE_RIGHT:
             ROS_DEBUG("RIGHT");
             angular_ = -1.0;
             dirty = true;
             break;
           case KEYCODE_UP:
             ROS_DEBUG("UP");
             linear_ = 1.0;
             dirty = true;
             break;
           case KEYCODE_DOWN:
             ROS_DEBUG("DOWN");
             linear_ = -1.0;
             dirty = true;
             break;
           case KEYCODE_Q:
             ROS_DEBUG("quit");
             return;
         }
        
     
         geometry_msgs::Twist twist;
         twist.angular.z = a_scale_*angular_;
         twist.linear.x = l_scale_*linear_;
         if(dirty ==true)
         {
           twist_pub_.publish(twist);    
           dirty=false;
         }
       }
     
     
       return;
     }
    

    key_teleop.py

    #! /usr/bin/env python
    # -*- coding: utf-8 -*-
    #
    # Copyright (c) 2013 PAL Robotics SL.
    # Released under the BSD License.
    #
    # Authors:
    #   * Siegfried-A. Gevatter
    
    import curses
    import math
    
    import rospy
    from geometry_msgs.msg import Twist
    
    class Velocity(object):
    
        def __init__(self, min_velocity, max_velocity, num_steps):
            assert min_velocity > 0 and max_velocity > 0 and num_steps > 0
            self._min = min_velocity
            self._max = max_velocity
            self._num_steps = num_steps
            if self._num_steps > 1:
                self._step_incr = (max_velocity - min_velocity) / (self._num_steps - 1)
            else:
                # If num_steps is one, we always use the minimum velocity.
                self._step_incr = 0
    
        def __call__(self, value, step):
            """
            Takes a value in the range [0, 1] and the step and returns the
            velocity (usually m/s or rad/s).
            """
            if step == 0:
                return 0
    
            assert step > 0 and step <= self._num_steps
            max_value = self._min + self._step_incr * (step - 1)
            return value * max_value
    
    class TextWindow():
    
        _screen = None
        _window = None
        _num_lines = None
    
        def __init__(self, stdscr, lines=10):
            self._screen = stdscr
            self._screen.nodelay(True)
            curses.curs_set(0)
    
            self._num_lines = lines
    
        def read_key(self):
            keycode = self._screen.getch()
            return keycode if keycode != -1 else None
    
        def clear(self):
            self._screen.clear()
    
        def write_line(self, lineno, message):
            if lineno < 0 or lineno >= self._num_lines:
                raise ValueError, 'lineno out of bounds'
            height, width = self._screen.getmaxyx()
            y = (height / self._num_lines) * lineno
            x = 10
            for text in message.split('\n'):
                text = text.ljust(width)
                self._screen.addstr(y, x, text)
                y += 1
    
        def refresh(self):
            self._screen.refresh()
    
        def beep(self):
            curses.flash()
    
    class KeyTeleop():
    
        _interface = None
    
        _linear = None
        _angular = None
    
        def __init__(self, interface):
            self._interface = interface
            self._pub_cmd = rospy.Publisher('key_vel', Twist)
    
            self._hz = rospy.get_param('~hz', 10)
    
            self._num_steps = rospy.get_param('~turbo/steps', 4)
    
            forward_min = rospy.get_param('~turbo/linear_forward_min', 0.5)
            forward_max = rospy.get_param('~turbo/linear_forward_max', 1.0)
            self._forward = Velocity(forward_min, forward_max, self._num_steps)
    
            backward_min = rospy.get_param('~turbo/linear_backward_min', 0.25)
            backward_max = rospy.get_param('~turbo/linear_backward_max', 0.5)
            self._backward = Velocity(backward_min, backward_max, self._num_steps)
    
            angular_min = rospy.get_param('~turbo/angular_min', 0.7)
            angular_max = rospy.get_param('~turbo/angular_max', 1.2)
            self._rotation = Velocity(angular_min, angular_max, self._num_steps)
    
        def run(self):
            self._linear = 0
            self._angular = 0
    
            rate = rospy.Rate(self._hz)
            while True:
                keycode = self._interface.read_key()
                if keycode:
                    if self._key_pressed(keycode):
                        self._publish()
                else:
                    self._publish()
                    rate.sleep()
    
        def _get_twist(self, linear, angular):
            twist = Twist()
            if linear >= 0:
                twist.linear.x = self._forward(1.0, linear)
            else:
                twist.linear.x = self._backward(-1.0, -linear)
            twist.angular.z = self._rotation(math.copysign(1, angular), abs(angular))
            return twist
    
        def _key_pressed(self, keycode):
            movement_bindings = {
                curses.KEY_UP:    ( 1,  0),
                curses.KEY_DOWN:  (-1,  0),
                curses.KEY_LEFT:  ( 0,  1),
                curses.KEY_RIGHT: ( 0, -1),
            }
            speed_bindings = {
                ord(' '): (0, 0),
            }
            if keycode in movement_bindings:
                acc = movement_bindings[keycode]
                ok = False
                if acc[0]:
                    linear = self._linear + acc[0]
                    if abs(linear) <= self._num_steps:
                        self._linear = linear
                        ok = True
                if acc[1]:
                    angular = self._angular + acc[1]
                    if abs(angular) <= self._num_steps:
                        self._angular = angular
                        ok = True
                if not ok:
                    self._interface.beep()
            elif keycode in speed_bindings:
                acc = speed_bindings[keycode]
                # Note: bounds aren't enforced here!
                if acc[0] is not None:
                    self._linear = acc[0]
                if acc[1] is not None:
                    self._angular = acc[1]
    
            elif keycode == ord('q'):
                rospy.signal_shutdown('Bye')
            else:
                return False
    
            return True
    
        def _publish(self):
            self._interface.clear()
            self._interface.write_line(2, 'Linear: %d, Angular: %d' % (self._linear, self._angular))
            self._interface.write_line(5, 'Use arrow keys to move, space to stop, q to exit.')
            self._interface.refresh()
    
            twist = self._get_twist(self._linear, self._angular)
            self._pub_cmd.publish(twist)
    
    
    class SimpleKeyTeleop():
        def __init__(self, interface):
            self._interface = interface
            self._pub_cmd = rospy.Publisher('key_vel', Twist)
    
            self._hz = rospy.get_param('~hz', 10)
    
            self._forward_rate = rospy.get_param('~forward_rate', 0.8)
            self._backward_rate = rospy.get_param('~backward_rate', 0.5)
            self._rotation_rate = rospy.get_param('~rotation_rate', 1.0)
            self._last_pressed = {}
            self._angular = 0
            self._linear = 0
    
        movement_bindings = {
            curses.KEY_UP:    ( 1,  0),
            curses.KEY_DOWN:  (-1,  0),
            curses.KEY_LEFT:  ( 0,  1),
            curses.KEY_RIGHT: ( 0, -1),
        }
    
        def run(self):
            rate = rospy.Rate(self._hz)
            self._running = True
            while self._running:
                while True:
                    keycode = self._interface.read_key()
                    if keycode is None:
                        break
                    self._key_pressed(keycode)
                self._set_velocity()
                self._publish()
                rate.sleep()
    
        def _get_twist(self, linear, angular):
            twist = Twist()
            twist.linear.x = linear
            twist.angular.z = angular
            return twist
    
        def _set_velocity(self):
            now = rospy.get_time()
            keys = []
            for a in self._last_pressed:
                if now - self._last_pressed[a] < 0.4:
                    keys.append(a)
            linear = 0.0
            angular = 0.0
            for k in keys:
                l, a = self.movement_bindings[k]
                linear += l
                angular += a
            if linear > 0:
                linear = linear * self._forward_rate
            else:
                linear = linear * self._backward_rate
            angular = angular * self._rotation_rate
            self._angular = angular
            self._linear = linear
    
        def _key_pressed(self, keycode):
            if keycode == ord('q'):
                self._running = False
                rospy.signal_shutdown('Bye')
            elif keycode in self.movement_bindings:
                self._last_pressed[keycode] = rospy.get_time()
    
        def _publish(self):
            self._interface.clear()
            self._interface.write_line(2, 'Linear: %f, Angular: %f' % (self._linear, self._angular))
            self._interface.write_line(5, 'Use arrow keys to move, q to exit.')
            self._interface.refresh()
    
            twist = self._get_twist(self._linear, self._angular)
            self._pub_cmd.publish(twist)
    
    
    def main(stdscr):
        rospy.init_node('key_teleop')
        app = SimpleKeyTeleop(TextWindow(stdscr))
        app.run()
    
    if __name__ == '__main__':
        try:
            curses.wrapper(main)
        except rospy.ROSInterruptException:
            pass
    
    展开全文
  • ERROR: cannot launch node of type [teleop/teleop_key]: can't locate node [teleop_key] in package [teleop] 报错原因:权限不够!需要把telep_key.py改成可执行文件权限。 转载于:https://www.cnbl...
  • 当遇到问题 采取方式为: 也就是说先用rospack find 命令找...不存在就安装 sudo apt-get install ros-kinetic-XXX 从网上查需要安装哪些内容 转载于:https://www.cnblogs.com/yjqjy/p/10477898.html...
  • 问题描述: ... 运行命令: roslaunch turtlebot_teleop keyboard_teleop.launch 后, 在终端中按键无响应, 机器人不移动。 解决办法: 1.安装kuboki相关的包,才可以驱动kobuki为底盘的机器人。 ...
  • 7_keyboard_teleop.wbt

    2020-04-22 16:15:49
    在Webot机器人仿真平台中用键盘控制小车的世界模型,与Webot机器人仿真平台(七) 键盘控制小车 配套使用https://blog.csdn.net/crp997576280/article/details/105661899
  • 在上一篇的教程里介绍了基于RVIZ的仿真环境arobotix,同时给...1.首先准备两个包:allians_arbotix:git clone https://github.com/AlliansChina/allians_arbotix.gitteleop_twist_keyboard:git clone https://githu...
  • 树莓派学习笔记二:软件包安装

    千次阅读 2017-03-01 20:36:21
    上一篇我们完成了 树莓派ubuntu镜像的烧录和ROS的安装,这一篇我们来讲一下到底需要装哪些软件包
  • 12.3-ros遥操作teleop

    2019-07-02 00:05:00
    ROS使用XBOX ONE 手柄前言参考学习记录安装相关包配置LinuxROS包使用手柄控制P3AT的roslaunch文件自定义使用关于xbone BT wireless controllerTOC 参考 ros wiki Tutorial Msg Remapper Linux ....
  • [rospack] Error: package ‘teleop_twist_keyboard’ not found 一般重新下载就好:sudo apt-get install ros-melodic-teleop-twist-keyboard 注意melodic是自己的ros版本,另外将下划线放到中间 [rospack] Error: ...
  • ROS-nanorobot教学2 base_control功能包使用及作用4、ROS话题列表查看及话题订阅5、ubuntu虚拟机的使用及ROS分布式通讯介绍6、ubuntu下ssh远程...3、新开一个会话,连接上nanocar,如果 PC 上的系统中没有安装 teleop
  • 在ros中运行sudo teleop_twist_keyboard teleop_twist_keyboard.py时,出现找不到功能包错误,如下 解决问题过程: 1、首先,我现在文件中搜一下这个功能包,发现我没有这个功能包 2、在网上搜了一下如何下载这个...
  • ROS学习

    2019-04-02 19:49:56
    rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/cmd_vel service.demo注意事项 创建一个srv文件夹,进入后创建.srv文件 .srv文件中数据类型要 指定位数 ,如 int32 age float32 x --...
  • ~/catkin_ws/src/teleop_twist_keyboard文件夹下的teleop_twist_keyboard.py 文件实现的。实现过程是通过读取键盘输入值,转化为 ROS 系统下的 cmd_vel 话题,小车底盘通过订阅该话题来决定自己的运动状态。 ...
  • ROS之 teleop_controller

    2020-12-27 17:48:50
    turtlebot_teleop Control Your Turtlebot! --------------------------- Moving around: u i o j k l m , . q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linea
  • ROS入门 4.5.1 rosrun设置话题重映射 《ROS入门-理论与实践》视频教程镇楼 rosrun名称重映射语法: rorun 包名 节点名 话题名...启动键盘控制节点:rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/
  • 第一个launch file用于记录数据,因为环境的关系,数据存储以后便于仿真 <launch> <!--file name: stage_ros.launch/>...machine name="local_alt" address="localhost" default="true" />...
  • 按网址https://www.ncnynl.com/archives/201709/1983.html上的步骤安装Dashgo运行环境会出现/dev目录下不会出现dashgo设备,其原因是git checkout basic_02这一语句使用的分支错误,建议使用网址...
  • 1.这些天,我在调试一个基于cartographer 建图定位的机器人...打算用键盘控制包 teleop_twist_keyboard 进行测试下,也没有效果,并且提示:“Waiting for subscriber to connect to /cmd_vel”,于是我开始怀疑网络远
  • 当然本地ros环境得有teleop_twist_keyboard这个包没有安装之 sudo apt-get install ros-kinetic-teleop-twist-keyboard 缺什么补什么。 建图时开两个终端,登录主机 分别依次运行   roslaunch ...
  • 参考链接: ros键盘控制代码注释 十、键盘控制无人机 · 下(multirotor_keyboard_control.py解读) #!/usr/bin/env python # -*- coding: utf-8 -*- import rospy from geometry_msgs.msg import Twist # 在几何数据...

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