turtlebot2--修改操纵杆控制的速度(记录)_ros2 turtlebot3更改小车速度-CSDN博客

本文链接：https://blog.csdn.net/qq_43176116/article/details/88742180

博客介绍了使用XBOX360操纵杆控制turtlebot2的相关设置。包括launch文件地址、源码，以及修改后的launch文件内容，如修改scale_angular保证旋转平稳、修改scale_linear保证线性速度平稳，还提及解锁键、方向键和前后键的对应设置且部分不作修改。

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操纵杆使用的是XBOX360

launch文件地址

/opt/ros/kinetic/share/turtlebot_teleop/launch/xbox360_teleop.launch

源码

<launch>
  <!--
    Push the left frontal button labeled as 'LB' to activate cmd_vel publishing.
    Move the left stick around to control the velocity.
   -->
  <!--  smooths inputs from cmd_vel_mux/input/teleop_raw to cmd_vel_mux/input/teleop -->
  <include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
    <param name="scale_angular" value="1.5"/>
    <param name="scale_linear" value="0.5"/>
    <param name="axis_deadman" value="4"/>
    <param name="axis_linear" value="1"/>
    <param name="axis_angular" value="0"/>
    <remap from="turtlebot_teleop_joystick/cmd_vel" to="teleop_velocity_smoother/raw_cmd_vel"/>
  </node>

  <node pkg="joy" type="joy_node" name="joystick">
  <param name="dev" type="string" value="/dev/input/js0" />
  </node>
</launch>

修改后的launch文件

<launch>
  <!--
    Push the left frontal button labeled as 'LB' to activate cmd_vel publishing.
    Move the left stick around to control the velocity.
   -->
  <!--  smooths inputs from cmd_vel_mux/input/teleop_raw to cmd_vel_mux/input/teleop -->
  <include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
    <param name="scale_angular" value="0.4"/>
    <param name="scale_linear" value="0.1"/>
    <param name="axis_deadman" value="4"/>
    <param name="axis_linear" value="1"/>
    <param name="axis_angular" value="0"/>
    <remap from="turtlebot_teleop_joystick/cmd_vel" to="teleop_velocity_smoother/raw_cmd_vel"/>
  </node>

  <node pkg="joy" type="joy_node" name="joystick">
  <param name="dev" type="string" value="/dev/input/js0" />
  </node>
</launch>

修改了scale_angular确保旋转平稳

修改scale_linear确保线性速度的平稳

axis_deadman是解锁键，4对应的是LB，此处不作修改

axis_angular是方向键，0对应的是Left/Right Axis stick left，此处不作修改

axis_linear是前后键，1对应的是Up/Down Axis stick left，此处不作修改