基于 RoboMaster EP 的机器人开发工具包,提供了用于控制机器人移动、获取激光雷达数据、处理摄像头图像等一系列脚本和功能模块(源码)

上传者: m0_37302966 | 上传时间: 2026-01-25 15:33:39 | 文件大小: 663KB | 文件类型: ZIP
基于 RoboMaster EP 的机器人开发工具包,提供了用于控制机器人移动、获取激光雷达数据、处理摄像头图像等一系列脚本和功能模块(源码) 文件结构 rmep_base/scripts/:包含多个 Python 脚本,用于实现不同的机器人控制功能。 ydlidar_ros_driver-master/:集成 YDLIDAR 的 ROS 驱动,用于获取激光雷达数据。 detection_msgs/:包含自定义消息类型,用于 ROS 节点间通信。 依赖 ROS (Robot Operating System) RoboMaster Python SDK YDLIDAR SDK 安装 RoboMaster Python 库 确保已安装 Python 3.x。 使用 pip 安装 RoboMaster SDK: pip install robomaster 使用说明 发布话题(默认话题名字) /camera/image_raw:摄像头图像数据。 /scan:激光雷达扫描数据。 订阅话题(默认话题名字) /move_cmd:移动控制指令。 发布服务 /start_scan:启动激光雷达扫描。 /stop_scan:停止激光雷达扫描。 其他说明 ztcar.launch:启动机器人基础功能的 ROS 启动文件。 ydlidar.launch:启动 YDLIDAR 的 ROS 启动文件。 ztcar_move.py:包含机器人移动控制函数,如前进、后退、转向等。 ztcar_camera.py:处理摄像头图像并发布图像话题。 ztcar_result.py:处理检测结果话题的回调函数。

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