Airport Robot Gazebo

环境

1. Ubuntu 18.04
2. Ros Melodic
3. Gazebo 9.0
4. Cartogpher

依赖包

sudo apt update
sudo apt install ros-melodic-ros-controllers
sudo apt install ros-melodic-velodyne-simulator
sudo apt install ros-melodic-key-teleop

运行指令

roslaunch airport_robot_gazebo airport_robot.launch

rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel _forward_rate:=2.0 _backward_rate:=2.0 _rotation_rate:=1.0

主要话题

1. 控制器: "/cmd_vel"
2. 惯导: "/imu"
3. 激光雷达: "/velodyne_points"