8、使用Gazebo虚拟SLAM和导航

1.1、启动Gazebo

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

1.2、 运行SLAM

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_slam turtlebot3_slam.launch

 

1.3、运行远程操控

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

遥控着走完，建立如下地图 

 

 2.1虚拟导航运行顺序

在运行导航之前退出所有执行的程序。然后，如下所示运行相关功能包时，机器人将
显示在之前创建的地图上。在RViz上设置机器人的初始位置并设置目的地后，可以看到
机器人移动到目的地

2.2运行Gazebo 

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

2.3运行导航 

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

2.4设置目的地进行导航