ROS Noetic turtlebot3建图导航仿真教程（极简版）

ROS Noetic turtlebot3建图导航仿真教程（极简版）

1. 安装依赖

sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
sudo apt install ros-noetic-turtlebot-*
sudo apt install ros-noetic-gmapping
sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-depthimage-to-laserscan ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-server ros-noetic-rosserial-client ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro  ros-noetic-compressed-image-transport ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-navigation  ros-noetic-interactive-markers rviz

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

2. 下载仿真功能包

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

3. gmapping建图仿真

# 添加机器人声明
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
## 方式1
# rviz 仿真测试
roslaunch turtlebot3_fake turtlebot3_fake.launch

# 通过键盘控制机器人的移动
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

## 方式2
# 启动gazebo
roslaunch turtlebot3_gazebo turtlebot3_world.launch

# 启动建图节点
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

# 启动键盘控制节点
rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

# 保存地图
rosrun map_server map_saver -f ~/map

4. navigation导航仿真

# 将刚才的终端都关闭，重新开始。
# 启动gazebo
roslaunch turtlebot3_gazebo turtlebot3_world.launch
# 启动导航节点
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

reference

@misc{BibEntry2023Jun,
title = {{ROS Noetic xn–turtlebot3-4p4pt18ey0om1jd6xm2hdy1cehsdwmg7gp92bbd88c0a{$\_$}xn–9krq6q0mkv0a552cenr6zw-xn–CSDN-eu0gs25b}},
year = {2023},
month = jun,
note = {[Online; accessed 5. Jun. 2023]},
url = {https://blog.csdn.net/qq_41821678/article/details/125711393}
}
@misc{BibEntry2023Jun,
title = {{Ubuntu20.04 ROS Noetic xn–turtlebot3gmapping-zo22ak4jr6cc494a4pj{$\_$}xn–Leonard2021-l11si57f0n7f-xn–CSDN-eu0gs25b}},
year = {2023},
month = jun,
note = {[Online; accessed 5. Jun. 2023]},
url = {https://blog.csdn.net/weixin_51331359/article/details/121598373}
}