ROS by example入门中文版+源码).zip
ROS by example入门实例(中文版+源码).zip
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 54899979 2019-07-16 11:24 ROS入门实例(中文版).pdf
目录 0 2019-07-16 11:30 rbx1-indigo-devel
文件 578 2018-02-24 21:57 rbx1-indigo-develREADME.md
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1
文件 103 2018-02-24 21:57 rbx1-indigo-devel
bx1CMakeLists.txt
文件 793 2018-02-24 21:57 rbx1-indigo-devel
bx1package.xml
文件 809 2018-02-24 21:57 rbx1-indigo-devel
bx1-prereq.sh
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_apps
文件 108 2018-02-24 21:57 rbx1-indigo-devel
bx1_appsCMakeLists.txt
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_appslaunch
文件 523 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchfollower.launch
文件 1814 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchfollower2.launch
文件 1184 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchhead_tracker_app.launch
文件 677 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchobject_follower.launch
文件 329 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchobject_tracker.launch
文件 586 2018-02-24 21:57 rbx1-indigo-devel
bx1_appsmainpage.dox
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_apps
odes
文件 6663 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesfollower.py
文件 6060 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesfollower2.py
文件 11946 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesobject_follower.py
文件 6452 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesobject_tracker.py
文件 870 2018-02-24 21:57 rbx1-indigo-devel
bx1_appspackage.xml
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_appssrc
文件 0 2018-02-24 21:57 rbx1-indigo-devel
bx1_appssrc\__init__.py
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_bringup
文件 110 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupCMakeLists.txt
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_bringupconfig
文件 1084 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_pi_arbotix.yaml
文件 374 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_turtlebot_arbotix.yaml
文件 759 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_turtlebot_with_head_arbotix.yaml
文件 232 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigopenni_params.yaml
............此处省略270个文件信息
#!/usr/bin/env python
“““
follower.py - Version 1.1 2013-12-20
Follow a “person“ by tracking the nearest object in x-y-z space.
based on the follower application by Tony Pratkanis at:
http://ros.org/wiki/turtlebot_follower
Created for the Pi Robot Project: http://www.pirobot.org
Copyright (c) 2012 Patrick Goebel. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License or
(at your option) any later version.
This program is distributed in the hope that it will be useful
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details at:
http://www.gnu.org/licenses/gpl.html
“““
import rospy
from roslib import message
from sensor_msgs import point_cloud2
from sensor_msgs.msg import PointCloud2
from geometry_msgs.msg import Twist
from math import copysign
class Follower():
def __init__(self):
rospy.init_node(“follower“)
# Set the shutdown function (stop the robot)
rospy.on_shutdown(self.shutdown)
# The dimensions (in meters) of the box in which we will search
# for the person (blob). These are given in camera coordinates
# where x is left/righty is up/down and z is depth (forward/backward)
self.min_x = rospy.get_param(“~min_x“ -0.2)
self.max_x = rospy.get_param(“~max_x“ 0.2)
self.min_y = rospy.get_param(“~min_y“ -0.3)
self.max_y = rospy.get_param(“~max_y“ 0.5)
self.max_z = rospy.get_param(“~max_z“ 1.2)
# The goal distance (in meters) to keep between the robot and the person
self.goal_z = rospy.get_param(“~goal_z“ 0.6)
# How far away from the goal distance (in meters) before the robot reacts
self.z_threshold = rospy.get_param(“~z_threshold“ 0.05)
# How far away from being centered (x displacement) on the person
# before the robot reacts
self.x_threshold = rospy.get_param(“~x_threshold“ 0.05)
# How much do we weight the goal distance (z) when making a movement
self.z_scale = rospy.get_param(“~z_scale“ 1.0)
# How much do we weight left/right displacement of the person when making a movement
self.x_scale = rospy.get_param(“~x_scale“ 2.5)
# The maximum rotation speed in radians per second
self.max_angular_speed = rospy.get_param(“~max_angular_speed“ 2.0)
# The minimum rotation speed in radians per second
self.min_angular_speed = rospy.get_param(“~min_angular_speed“ 0.0)
# The max linear speed in meters per second
self.max_linear_speed = rospy.get_param(“~max_linear_speed“
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 54899979 2019-07-16 11:24 ROS入门实例(中文版).pdf
目录 0 2019-07-16 11:30 rbx1-indigo-devel
文件 578 2018-02-24 21:57 rbx1-indigo-develREADME.md
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1
文件 103 2018-02-24 21:57 rbx1-indigo-devel
bx1CMakeLists.txt
文件 793 2018-02-24 21:57 rbx1-indigo-devel
bx1package.xm
文件 809 2018-02-24 21:57 rbx1-indigo-devel
bx1-prereq.sh
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_apps
文件 108 2018-02-24 21:57 rbx1-indigo-devel
bx1_appsCMakeLists.txt
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_appslaunch
文件 523 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchfollower.launch
文件 1814 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchfollower2.launch
文件 1184 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchhead_tracker_app.launch
文件 677 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchob
文件 329 2018-02-24 21:57 rbx1-indigo-devel
bx1_appslaunchob
文件 586 2018-02-24 21:57 rbx1-indigo-devel
bx1_appsmainpage.dox
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_apps
odes
文件 6663 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesfollower.py
文件 6060 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesfollower2.py
文件 11946 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesob
文件 6452 2018-02-24 21:57 rbx1-indigo-devel
bx1_apps
odesob
文件 870 2018-02-24 21:57 rbx1-indigo-devel
bx1_appspackage.xm
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_appssrc
文件 0 2018-02-24 21:57 rbx1-indigo-devel
bx1_appssrc\__init__.py
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_bringup
文件 110 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupCMakeLists.txt
目录 0 2019-07-16 11:30 rbx1-indigo-devel
bx1_bringupconfig
文件 1084 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_pi_arbotix.yaml
文件 374 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_turtlebot_arbotix.yaml
文件 759 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigfake_turtlebot_with_head_arbotix.yaml
文件 232 2018-02-24 21:57 rbx1-indigo-devel
bx1_bringupconfigopenni_params.yaml
............此处省略270个文件信息
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