turtlebot运行follower包实现人员跟随

参考http://wiki.ros.org/turtlebot_follower

下载并编译

https://github.com/turtlebot/turtlebot_apps/tree/indigo/turtlebot_follower

编译依赖于

要实现turtlebot的移动，首先要运行launch文件

roslaunch turtlebot_bringup minimal.launch

然后

roslaunch turtlebot_follower follower.launch

或者更改follower.launch文件：

<!--
  The turtlebot people (or whatever) follower nodelet.
 -->
<launch>
  <arg name="simulation" default="false"/>
  <group unless="$(arg simulation)"> <!-- Real robot -->
    <include file="$(find turtlebot_follower)/launch/includes/velocity_smoother.launch.xml">
      <arg name="nodelet_manager"  value="/mobile_base_nodelet_manager"/>
      <arg name="navigation_topic" value="/cmd_vel_mux/input/navi"/>
    </include>
    <include file="$(find turtlebot_bringup)/launch/minimal.launch">
    <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
      <arg name="rgb_processing"                  value="true"/>  <!-- only required if we use android client -->
      <arg name="depth_processing"                value="true"/>
      <arg name="depth_registered_processing"     value="false"/>
      <arg name="depth_registration"              value="false"/>
      <arg name="disparity_processing"            value="false"/>
      <arg name="disparity_registered_processing" value="false"/>
      <arg name="scan_processing"                 value="false"/>
    </include>
  </group>
  <group if="$(arg simulation)">
    <!-- Load nodelet manager for compatibility -->
    <node pkg="nodelet" type="nodelet" ns="camera" name="camera_nodelet_manager" args="manager"/>
    <include file="$(find turtlebot_follower)/launch/includes/velocity_smoother.launch.xml">
      <arg name="nodelet_manager"  value="camera/camera_nodelet_manager"/>
      <arg name="navigation_topic" value="cmd_vel_mux/input/navi"/>
    </include>
  </group>
  <param name="camera/rgb/image_color/compressed/jpeg_quality" value="22"/>
  <!-- Make a slower camera feed available; only required if we use android client -->
  <node pkg="topic_tools" type="throttle" name="camera_throttle"
        args="messages camera/rgb/image_color/compressed 5"/>
  <include file="$(find turtlebot_follower)/launch/includes/safety_controller.launch.xml"/>
  <!--  Real robot: Load turtlebot follower into the 3d sensors nodelet manager to avoid pointcloud serializing -->
  <!--  Simulation: Load turtlebot follower into nodelet manager for compatibility -->
  <node pkg="nodelet" type="nodelet" name="turtlebot_follower"
        args="load turtlebot_follower/TurtlebotFollower camera/camera_nodelet_manager">
    <remap from="turtlebot_follower/cmd_vel" to="follower_velocity_smoother/raw_cmd_vel"/>
    <remap from="depth/points" to="camera/depth/points"/>
    <param name="enabled" value="true" />
    <param name="x_scale" value="7.0" />
    <param name="z_scale" value="2.0" />
    <param name="min_x" value="-0.35" />
    <param name="max_x" value="0.35" />
    <param name="min_y" value="0.1" />
    <param name="max_y" value="0.5" />
    <param name="max_z" value="1.2" />
    <param name="goal_z" value="0.6" />
  </node>
  <!-- Launch the script which will toggle turtlebot following on and off based on a joystick button. default: on -->
  <node name="switch" pkg="turtlebot_follower" type="switch.py"/>
</launch>

然后

roslaunch turtlebot_follower follower.launch