TurtleBot3 跟随

 跟随者演示仅使用360激光距离传感器LDS-01实施。基于人与障碍物位置样本的先前拟合，使用分类算法来采取行动。它跟随机器人前面的某个人在50厘米范围和140度范围内。

在有障碍物的区域中运行跟随者演示可能效果不佳。因此，建议在没有障碍的开放区域中运行演示。

1.安装turtlebot3_applications和turtlebot3_applications_msgs软件包。

sudo apt-get install ros-kinetic-ar-track-alvar
sudo apt-get install ros-kinetic-ar-track-alvar-msgs
cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs.git
cd ~/catkin_ws && catkin_make

 2.安装scikit-learn，NumPy和ScyPy包

sudo apt-get install python-pip
sudo pip install -U scikit-learn numpy scipy
sudo pip install --upgrade pip

 3.安装完成后，在远程PC上运行roscore

roscore

 4.启动bringup程序包

roslaunch turtlebot3_bringup turtlebot3_robot.launch set_lidar_frame_id:=odom

5.设置TurtleBot3 Burger的环境变量并启动turtlebot3_follow_filter

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_follow_filter turtlebot3_follow_filter.launch

6.启动turtlebot3_follower

roslaunch turtlebot3_follower turtlebot3_follower.launch