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一、二值栅格地图0表示自由空间 false1表示障碍物 truesimple.maptrue true true true true true true true true true true true true true true true true true true true true true true true true true truetrue false false false false false false false false false false fal

一、VFH向量场直方图算法，是一种由人工势场法改进而来的机器人导航算法。算法会计算各个方向的行进代价，该方向的障碍越多，代价越高，并且会累加该方向不同距离的障碍物。二、仿真turtlebot_gazeboclear all;close all;clear;laserSub = rossubscriber('/scan');[velPub, velMsg] = rospublisher('/mobile_base/commands/velocity');vfh = controllerVFH;

一、雷达laser = rossubscriber('/scan');%scan = receive(laser);figure%plot(scan);tic;while toc < 10 scan = receive(laser,3); plot(scan);end二、避障spinVelocity = 0.6; % 角速度forwardVelocity = 0.1; % 前进角速度backwardVelocity = -0.02; % 后退角速度d

一、turtlebot_gazebo走圈打开gazebo_turelebotroslaunch turtlebot_gazebo turtlebot_world.launchm文件：while(1) velocity = 0.2; angular = 0.1; robot = rospublisher('/mobile_base/commands/velocity') ; velmsg = rosmessage(robot); velmsg.Linear.X

一、话题发布、话题订阅话题发布：chatpub = rospublisher('/chatter','std_msgs/String');msg = rosmessage(chatpub);msg.Data = 'Test matlab ros';send(chatpub,msg);话题订阅：sub = rossubscriber('/chatter',@exampleHelperROSChatterCallback);...

一、通信ROS系统终端输入roscoreifconfig #获取iprosrun turtlesim turtlesim_nodematlab端rosinit('ip')乌龟走圈cmdpub = rospublisher('/turtle1/cmd_vel',rostype.geometry_msgs_Twist);pause(1)% Wait to ensure publisher is setupcmdmsg = rosmessage(cmdpub);while(1)