센서 데이터

TurtleBot^® 센서에서 데이터 수집

TurtleBot 로봇은 모든 센서 데이터를 ROS 네트워크에 퍼블리시합니다. 다음 함수들을 사용하여 ROS 네트워크를 통해 여러 다양한 센서로부터 데이터를 가져옵니다. 또한 setVelocity를 사용하여 속도 명령을 전송해서 로봇을 움직일 수 있습니다.

함수

`getColorImage`	Get color image from TurtleBot camera
`getGrayImage`	Get grayscale image from TurtleBot camera
`getDepthImage`	Get depth image from TurtleBot camera
`getPointCloud`	Get point cloud image from TurtleBot camera

getLaserScan Get laser scan sensor readings from TurtleBot

`getIMU`	Get IMU data from TurtleBot
`getOdometry`	Get odometry reading from TurtleBot
`getTransform`	Get transformation between two frames on the TurtleBot robot
`resetOdometry`	Reset odometry for TurtleBot

setVelocity Send linear and angular velocities to TurtleBot

turtlebot Connect to TurtleBot

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.