TIRC_galileo ROS软件包 cd〜您的ros工作区/ src git clone https://github.com/kubot080301/TIRC_galileo.git cd .. 然后catkin_make和源工作区 启动您的ROBOT基本驱动程序: roslaunch kubot_bringup bringup.launch 如果要获取IMU数据: roslaunch kubot_bringup bringup_with_imu.launch rostopic echo /raw_imu 和电池电压: rostopic echo /battery_voltage