Turtlebot仿真-rrt_exploration单机自主探索建图

说明

• 本教程介绍如何使用turtlebot进行rrt_exploration单机自主探索建图的仿真测试

• 测试环境：ubutnu 16.04 + ROS Kinetic

前提准备

• 安装相应的ROS包

$ sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo 

• 安装rrt_exploration和rrt_exploration_tutorials

$ cd ~/catkin_ws
$ git clone https://github.com/hasauino/rrt_exploration
$ git clone https://github.com/hasauino/rrt_exploration_tutorials.git
$ catkin_make && rospack profile

操作步骤

• 加载仿真环境和模型

$ roslaunch rrt_exploration_tutorials single_simulated_house.launch

• 启动自主探索建图

$ roslaunch rrt_exploration single.launch

演示视频