ROS之 teleop_controller

双轮差速驱动模型键盘控制

a. 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 linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit  

## 正反向控制　target_speed: 0/1/-1; control_speed不操作有归零

if target_speed > control_speed: ## 按u键 向前加速　target_speed: 1m/s control_speed由0m/s-->1m/s
    control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed: ## 无按键或者按 , 键 减速/向后加速　target_speed: 0m/s或者-1m/s　control_speed由当前速度变化到0m/s或者-1m/s
    control_speed = max( target_speed, control_speed - 0.02 )
else:
    control_speed = target_speed

if target_turn > control_turn:
    control_turn = min( target_turn, control_turn + 0.1 )
elif target_turn < control_turn:
    control_turn = max( target_turn, control_turn - 0.1 )
else:
    control_turn = target_turn

coppeliaSim场景测试： controlledViaRos.ttt 提取码: pd56

b. teleop_twist_keyboard

Ackerman 车辆模型键盘控制

a. ackermann-drive-teleop

b. cmd_vel + rosrun teb_local_planner_tutorials cmd_vel_to_ackermann_drive.py