kinetic安装turtlebot3仿真功能包

第一步到工作目录catkin_ws下载相应的功能包并编译

$ cd ~/catkin_ws/src 
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git 
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd .. 
$ rosdep install --from-paths src -i -y $ catkin_make

第二步安装TurtleBot3 Simulation

cd ~/catkin_ws/src/git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

第三步启动gazebo仿真

mkdir -p ~/.gazebo/models/
cp -r ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_XXX ~/.gazebo/models/

首先要将模型文件拷贝到gazebo中，上述代码的XXX请填入自己要仿真的模型名称：

burger||waffle




接着，设置机器人的型号参数：

export TURTLEBOT3_MODEL=burger

启动的环境可以有几种不同的选择。

2.1 启动空的世界地图

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch




 如果出现

[turtlebot3_world.launch] is neither a launch file in package [turtlebot3_gazebo] nor is [turtlebot3_gazebo] a launch file name
The traceback for the exception was written to the log file
说明没有source进行下面的步骤

如果出现

Invalid tag: environment variable 'TURTLEBOT3_MODEL' is not set.

Arg xml is
The traceback for the exception was written to the log file
则按照下面图片的步骤搞

启动空的世界地图

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

启动复杂地图：

roslaunch turtlebot3_gazebo turtlebot3_world.launch

gazebo加载比较慢 我的神船已经压不住他的热量了，开了三个窗口卡成ppt

启动家庭环境地图：

roslaunch turtlebot3_gazebo turtlebot3_house.launch

通过键盘控制turtlebot：

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

在打开的Terminal中通过w/a/d/x控制方向，s来停止移动。