Shulou(Shulou.com)06/02 Report--

This article will explain in detail how to avoid obstacles in gazebo. The content of the article is of high quality, so the editor will share it with you for reference. I hope you will have a certain understanding of the relevant knowledge after reading this article.

Modified to virtual machine IP address

Ipaddress = '192.168.137.129'

Initialization

Rosinit (ipaddress)

Get gazebo element

Gazebo = ExampleHelperGazeboCommunicator ()

% New and add a wall

Wall = ExampleHelperGazeboModel ('grey_wall','gazeboDB')

SpawnModel (gazebo,wall, [- 240])

%% set its posture after getting the robot

Kobuki = ExampleHelperGazeboSpawnedModel ('mobile_base',gazebo)

SetState (kobuki,'orientation', [0 pi/2])

New global variable

Global robot

Global velmsg

Get speed information for robot

Robot = rospublisher ('/ mobile_base/commands/velocity')

Velmsg = rosmessage (robot)

%% get robot's obstacle avoidance radar or something.

TimerHandles.sub = rossubscriber ('/ scan')

%% set up obstacle avoidance

T = timer ('TimerFcn', {@ exampleHelperGazeboAvoidanceTimer,timerHandles},' Period',0.1,'ExecutionMode','fixedSpacing')

%% start to avoid obstacles

Start (t)

%% add another wall

SpawnModel (gazebo,wall, [- 5.85 0.150], [0,0, pi/2])

% Program waits for 20 seconds.

Pause (20)

%% end obstacle avoidance march

Stop (t)

% get all objects

List = getSpawnedModels (gazebo)

Remove two walls

RemoveModel (gazebo,'grey_wall')

RemoveModel (gazebo,'grey_wall_0')

%% empty variables

Clear

% close connection

Rosshutdown

On how to achieve obstacle avoidance in gazebo to share here, I hope that the above content can be of some help to you, can learn more knowledge. If you think the article is good, you can share it for more people to see.

Welcome to subscribe "Shulou Technology Information " to get latest news, interesting things and hot topics in the IT industry, and controls the hottest and latest Internet news, technology news and IT industry trends.