ROS-turtlebot-follower-：让机器人跟随我们移动.doc

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1、ROSturtlebot_follower：让机器人跟随我们移动ROSturtlebot_follower学习首先在catkin_ws/src目录下载源码了解代码见注释（其中有些地方我也不是很明白）follower.cpp#include#include#include#include#include#inc

2、lude#include#include"dynamic_reconfigure/server.h"#include"turtlebot_follower/FollowerConfig.h"#includenamespaceturtlebot_follower{//*Theturtlebotfollowernodelet./**

3、*Theturtlebotfollowernodelet.Subscribestopointclouds*fromthe3dsensor,processesthem,andpublishescommandvel*messages.*/classTurtlebotFollower:publicnodelet::Nodelet{public:/*!*@briefTheconstructorforthefollower.*Constructorforthefollower.*/TurtlebotFollower():mi

4、n_y_(0.1),max_y_(0.5),min_x_(-0.2),max_x_(0.2),max_z_(0.8),goal_z_(0.6),z_scale_(1.0),x_scale_(5.0){}~TurtlebotFollower(){deleteconfig_srv_;}private:doublemin_y_;/**

5、ox.*/doublemin_x_;/**

6、troid离机器人的距离，以保持质心*/doublez_scale_;/**

7、器人不会移动，/mobile_base/mobile_base_controller/cmd_veltopic为空*///Serviceforstart/stopfollowingros::ServiceServerswitch_srv_;//Dynamicreconfigureserver动态配置服务dynamic_reconfigure::Server*config_srv_;/*!*@briefOnInitmethodfromnodeha

8、ndle.*OnInitmethodfromnodehandle.Setsuptheparameters*andtopics.*初始化handle，参数，和话题*/virtualvoidonInit(){ros::NodeHandle&nh=getNodeHandle();ros::NodeHandle&private_nh=getPrivateNodeHa