abc_swarm仿真实例

提示

如果运行过程中显示找不到xx.urdf的报错，请先在终端中执行下面的命令

source ~/tianbot_mini_ws/devel/setup.bash

1.mini小车跟随仿真

启动驱动

roslaunch abc_swarm demo_sim_tf.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/tbmn_01/cmd_vel

2.两台mini小车跟随一台mini保持阵型仿真

启动驱动

roslaunch abc_swarm demo_sim_formation.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/tbmn_01/cmd_vel

3.两台mini小车跟随一台mini小车仿真

启动驱动

roslaunch abc_swarm demo_sim_leader_follower.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/tbmn_01/cmd_vel

4.mini小车导航跟随仿真

启动驱动

roslaunch abc_swarm demo_sim_two_robots_navigation.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/tbmn_01/cmd_vel