高级教程--(多机器人)使用键盘全体机器人控制

hawkbot

所有的机器人都会监听/cmd_vel话题

awkbot@hawkbot-ubuntu:~/桌面$ roslaunch hawkbot teleop_key.launch
... logging to /home/hawkbot/.ros/log/7ba0870c-fe9e-11ed-bebb-ad50dcad1b16/roslaunch-hawkbot-ubuntu-2373.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.100.238:39197/

SUMMARY
========

PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.15

NODES
  /
    teleop_hawkbot_ubuntu_2373_1962891372008894324 (hawkbot/teleop_key.py)

ROS_MASTER_URI=http://127.0.0.1:11311

process[teleop_hawkbot_ubuntu_2373_1962891372008894324-1]: started with pid [2387]

======================
   u    i    o  
   j    k    l  
   m    ,    .  
======================
前: i       后: ,
左: j       右: l
左转弯：u   右转弯：o
左后退：m   右后退：.
增加/减少线速度: w/x
增加/减少角速度: e/c
退出: CTRL-C

当前速度:        speed 0.15        turn 1.0