Gazebo simulation
- Start Gazebo simulation
ros2 launch agv_pro_description agv_pro_gazebo.launch.py
- Use the keyboard node to control the simulation car
ros2 run teleop_twist_keyboard teleop_twist_keyboard
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Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
currently: speed 0.25 turn 0.5
| Buttons | Button Description |
|---|---|
| i | Move forward |
| , | Move backward |
| j | Rotate counterclockwise |
| l | Rotate clockwise |
| u | Turn left and move forward |
| o | Turn right and move forward |
| k | Stop moving |
| m | Turn left and move backward |
| . | Turn right and move backward |
| I | Move forward |
| < | Move backward |
| J | Move left |
| L | Move right |
| U | Move forward at an angle of 45° to the left |
| O | Move forward at an angle of 45° to the right |
| M | Move backward at an angle of 45° to the left |
| > | Move backward at an angle of 45° to the right |
| q | Increase linear and angular speed |
| z | Reduce linear and angular speed |
| w | Increase linear speed |
| x | Reduce linear velocity |
| e | Increase angular velocity |
| c | Reduce angular velocity |
