ROS-turtlebot3仿真

Posted 2021-02-01 chendeqiang

前言：仿真。

一、安装依赖包

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation

二、安装功能包

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

三、仿真

cd /home/cdq/catkin_ws/src/turtlebot3_simulations/turtlebot3_fake/launch

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_fake.launch

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解析：

第二条是设置环境变量。

第三条运行了tur tlebot3_fake_node节点（三维模型）和robot_state_publisher节点（发布车轮信息）。

显示如下：

 

 

 

 

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