Sensor Data

Collect data from TurtleBot^®sensors

TurtleBot robots publish all their sensor data on a ROS network. These functions are used to get data from different sensors off the ROS network. You can also send velocity commands to move robots usingsetVelocity.

Functions

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Imaging Sensors

`getColorImage`	Get color image fromTurtleBotcamera
`getGrayImage`	Get grayscale image fromTurtleBotcamera
`getDepthImage`	Get depth image fromTurtleBotcamera
`getPointCloud`	Get point cloud image fromTurtleBotcamera

Laser Scanners

getLaserScan Get laser scan sensor readings fromTurtleBot

Pose Sensors

`getIMU`	Get IMU data fromTurtleBot
`getOdometry`	Get odometry reading fromTurtleBot
`getTransform`	Get transformation between two frames on theTurtleBotrobot
`resetOdometry`	Reset odometry forTurtleBot

Velocity Control

setVelocity Send linear and angular velocities toTurtleBot

Objects

turtlebot 连接到TurtleBot

Topics

Get Started with the TurtleBot Support Package
This example demonstrates how to interface with the TurtleBot® robot.
Get Image Data from TurtleBot® at a Fixed Rate
This example shows how to get image data from the TurtleBot and display it at a fixed rate.
Plot Turtlebot Odometry
This example shows how to get, store, and display odometry data from a TurtleBot® as it drives in an environment.