Following_Leader

仿真demo

1.启动仿真环境:

cd ~/Shahao/navigation_research source devel/setup.bash roslaunch navigation_research controller_project.launch

2.启动领航员位姿估计和目标发布节点:

cd ~/Shahao/Following_Leader/leader_pose_estimate python t_subgoal_node.py

3.启动DWA局部规划器节点:

cd ~/Shahao/Following_Leader python local_planner_node.py

4.启动键盘控制领航员:

cd ~/Shahao/navigation_research source devel/setup.bash roslaunch turtlebot_teleop keyboard_teleop.launch