Turtlebot3与仿真-仿真环境搭建(kinetic版)

说明

• 介绍如何利用turtlebot3进行仿真

• 测试环境：Ubuntu 16.04 和 ROS Kinetic Kame.

操作步骤

• gazebo已经通过ros包的安装一起安装

sudo apt-ge install ros-kinetic-desktop-full 

• 安装仿真系统依赖包

sudo apt-get install -y ros-kinetic-navigation ros-kinetic-teb-local-planner* ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-ackermann-msgs ros-kinetic-serial qt4-default ros-kinetic-effort-controllers ros-kinetic-joint-state-controller ros-kinetic-tf2-ros ros-kinetic-tf

• turtlebot3_simulation包需要搭配turtlebot3包使用

  • turtlebot3包安装：参考链接

• 安装turtlebot3_simulation包

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

• 新终端，启动仿真测试

$ export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
$ roslaunch turtlebot3_fake turtlebot3_fake.launch

• TurtleBot3 仿真节点不依赖实体机器人，也可以在rviz里通过teleop节点进行控制

• 新终端，启动键盘控制

 $ export TURTLEBOT3_MODEL=burger
 ## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
 $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch