- 启动gazebo仿真环境
- 启动地图绘制的launch文件，如
roslaunch nav_demo nav01_slam.launch
- 启动键盘控制节点
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
出现
Waiting for subscriber to connect to /cmd_vel
且rviz中组件疯狂标红
1.更改话题名，建立launch文件
<launch ><node pkg = "turtlesim" type = "turtlesim_node" name = "my_turtle" output = "screen" ><remap from = "/turtle1/cmd_vel" to = "/cmd_vel"/>node><node pkg = "turtlesim" type = "turtle_teleop_key" name = "my_key" output = "screen"/>
launch>
2.两轮差速
xacro文件下集成运动控制、laser、camera、kinect的xacro文件
3.两车跟随运动时主车
roslaunch tianbot_mini teleop.launch robot_name:=tbmn_01
其中robot_name和rostopic list发布的话题不一样时会出现Waiting for subscriber to connect to /tbmn_1/cmd_vel