阿克曼移动机器人gazebo仿真项目开源

阿克曼移动机器人gazebo仿真项目开源

开源地址

https://github.com/Lord-Z/ackermann_gazebo.git

ReadMe

教程 how to use

1.前期准备 preparation

安装一些功能包 Install some packages:

sudo apt install ros-melodic-joint-state-publisher-gui
sudo apt install ros-melodic-ros-control
sudo apt install ros-melodic-ros-controllers
sudo apt install ros-melodic-gmapping
sudo apt install ros-melodic-ackermann-msgs
sudo apt install ros-melodic-navigation
sudo apt install ros-melodic-teb-local-planner

将三个功能包放进工作空间src目录下，进行编译

cp /three packages /***_ws/src
cd ..
catkin_make
source devel/setup.bash

2.使用教程 using tutorial

racebot建图 (racebot slam)

roslaunch racebot_gazebo racebot.launch

roslaunch racebot_gazebo gmapping.launch

tianracer建图(tianracer slam)

roslaunch racebot_gazebo tianracer.launch

roslaunch racebot_gazebo gmapping.launch

将鼠标点击键盘控制窗口，即可控制小车运动进行建图。Click the mouse on the keyboard control window, you can control the movement of the car to build a map.

racebot导航(racebot navigation)

roslaunch racebot_gazebo tianracer.launch

roslaunch racebot_gazebo navigation.launch

racebot一键导航(racebot one launch file to navigation)

roslaunch racebot_gazebo teb_demo.launch

tianracer一键导航(tianracer one launch file to navigation)

roslaunch racebot_gazebo teb_demo.launch

racebot导航建图(racebot navi&slam)

roslaunch racebot_gazebo racebot.launch

roslaunch racebot_gazebo slam_navi.launch

tianracer导航建图(tianracer navi&slam)

roslaunch racebot_gazebo tianracer.launch

roslaunch racebot_gazebo slam_navi.launch 

3.博客地址

Lord_ZYX