How to write ros publisher subscriber in same Node | Turtlebot | Scan | ROS Tutorial for Beginners
12.9 هزار بار بازدید -
4 سال پیش
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In this Turtlebot Tutorial video
In this Turtlebot Tutorial video we focus on how to publish velocity to Turtlebot and subscribe to Laser Scanner. This video is a part of ROS tutorial for beginner playlist which comprises of video which has ROS tutorial for beginners.
This is an introductory example of How to make it a Obstacle Avoiding Robot. We will look at how to move turtlebot around in Gazebo by providing linear/angular velocities while reading the /scan values.
At end of the video you will be able to more the turtlebot in an environment while making sure it does not collide to an obstacle.
We are using /cmd_vel_mux/input/navi topic to publish but you can use /cmd_vel if that is topic.
We are using /scan topic to subscribe to Laser Scan Values.
To checkout what topic you have use - "rostopic list"
Let us know in the comments section below if you want the CPP code for the same.
------------------Time Stamp ------------------------------
0:00 Introduction
0:30 Launching the Gazebo World
1:07 Code for Publisher-Subscriber Same rosnode
2:50 Logic to Obstacle Avoidance
3:34 Understanding /scan rostopic
6:03 Output Visualization
-------------------Important Links -----------------------
👩🏻💻 Code Link - https://github.com/PranaliDesai/Robom...
🤖 Link to Turtlebot_simulator - https://github.com/turtlebot/turtlebo...
🤖 Geomerty_msgs - http://wiki.ros.org/geometry_msgs
👩🏻💻 How to write a ROS Publisher - How to write a ros publisher | ROS Pu... ( How to make executable and more information on ros publishers)
👩🏻💻 Link to the Playlist - ROS Tutorial for Beginners
👩🏻💻 How to write a ROS subscriber - How to write a ROS subscriber in 7 mi...
Please Like and Subscribe.
Keep Watching Keep commenting
Robomechtrix
#ros #turtlebot #gazebo
This is an introductory example of How to make it a Obstacle Avoiding Robot. We will look at how to move turtlebot around in Gazebo by providing linear/angular velocities while reading the /scan values.
At end of the video you will be able to more the turtlebot in an environment while making sure it does not collide to an obstacle.
We are using /cmd_vel_mux/input/navi topic to publish but you can use /cmd_vel if that is topic.
We are using /scan topic to subscribe to Laser Scan Values.
To checkout what topic you have use - "rostopic list"
Let us know in the comments section below if you want the CPP code for the same.
0:00 Introduction
0:30 Launching the Gazebo World
1:07 Code for Publisher-Subscriber Same rosnode
2:50 Logic to Obstacle Avoidance
3:34 Understanding /scan rostopic
6:03 Output Visualization
👩🏻💻 Code Link - https://github.com/PranaliDesai/Robom...
🤖 Link to Turtlebot_simulator - https://github.com/turtlebot/turtlebo...
🤖 Geomerty_msgs - http://wiki.ros.org/geometry_msgs
👩🏻💻 How to write a ROS Publisher - How to write a ros publisher | ROS Pu... ( How to make executable and more information on ros publishers)
👩🏻💻 Link to the Playlist - ROS Tutorial for Beginners
👩🏻💻 How to write a ROS subscriber - How to write a ROS subscriber in 7 mi...
Please Like and Subscribe.
Keep Watching Keep commenting
Robomechtrix
#ros #turtlebot #gazebo
4 سال پیش
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