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硬件设备:

底盘:

$(find tianbot_racecar)/launch/RACECAR_core.launch

IMU:

$(find tianbot_racecar)/launch/Device/gy85.launch

激光雷达:

$(find tianbot_racecar)/launch/Device/rplidar.launch

RVIZ可视化:

激光雷达:

$(find tianbot_racecar)/launch/View/view_rplidar.launch

IMU:

$(find tianbot_racecar)/launch/View/view_imu.launch

导航:

$(find tianbot_racecar)/launch/View/view_amcl.launch

建图:

$(find tianbot_racecar)/launch/View/view_gmapping.launch

查看由雷达生成的odom里程信息:

$(find tianbot_racecar)/launch/View/view_laser_odom.launch

功能包:

键盘控制:

+底盘 $(find tianbot_racecar)/launch/Teleop/keyboard_teleop.launch

手柄控制:

+底盘 $(find tianbot_racecar)/launch/Teleop/joystick_teleop.launch

导航:

+底盘 +IMU +激光雷达 $(find tianbot_racecar)/launch/RACECAR_amcl_nav.launch

阳光明媚 备 2018.07.11日