This project run on a raspberry pi 2,with the ubuntu 14.04. The shell--follow.sh can build a roscore and roslaunch turtlebot driver, then run our program--follow. If you want to start the program when the device powered on, you can add the path of follow.sh to /etc/rc.local. As the same as follow_trunk,I add the optimize option-- O2 during compiling. I add it to the /src/follow/CMakeLists.txt as follow: set(CMAKE_CXX_FLAGS -O2) . So the frequency of program turn 2.5HZ to 10HZ. @date:2016.9.12 @name:yyq @copyright:stardraw @addr:zju_yyq@163.com