ROS启动乌龟追乌龟程序用的是roslaunch turtle_tf turtle_tf_demo.launch，其内容如下：
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| <launch>
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<node name="turtle1_tf_broadcaster" pkg="turtle_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle1" />
</node>
<node name="turtle2_tf_broadcaster" pkg="turtle_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle2" />
</node>
<node name="turtle_pointer" pkg="turtle_tf" type="turtle_tf_listener.py" respawn="false" output="screen" >
</node>
</launch>
|
乌龟的程序,按下方向键,乌龟只走一段距离,是在cmd_vel的回调函数里更新乌龟的位置,取决于发布的twist消息和更新间隔dt,由Qt实现
