ros2与turtlebot3仿真教程-多机仿真

ros2与turtlebot3仿真教程-多机仿真

说明：　

• 介绍如何通过turtlebot3仿真多机
• 环境: ubuntu22.04 + humble

步骤：

• 安装相关包, 参考ros2与turtlebot3仿真教程-自主探索建图
• 上面教程已经安装了navigation2包和turtlebot3包
• 启动多机仿真

ros2 launch nav2_bringup multi_tb3_simulation_launch.py

• robot1 rviz1效果图

• robot2 rviz1效果图

• gazebo效果图

• 查看话题列表

$ ros2 topic list
/clock
/parameter_events
/performance_metrics
/robot1/cmd_vel
/robot1/global_costmap/costmap
/robot1/global_costmap/costmap_updates
/robot1/imu
/robot1/initialpose
/robot1/intel_realsense_r200_depth/camera_info
/robot1/intel_realsense_r200_depth/depth/camera_info
/robot1/intel_realsense_r200_depth/depth/image_raw
/robot1/intel_realsense_r200_depth/depth/image_raw/compressed
/robot1/intel_realsense_r200_depth/depth/image_raw/compressedDepth
/robot1/intel_realsense_r200_depth/depth/image_raw/theora
/robot1/intel_realsense_r200_depth/image_raw
/robot1/intel_realsense_r200_depth/image_raw/compressed
/robot1/intel_realsense_r200_depth/image_raw/compressedDepth
/robot1/intel_realsense_r200_depth/image_raw/theora
/robot1/intel_realsense_r200_depth/points
/robot1/joint_states
/robot1/local_costmap/costmap
/robot1/local_costmap/costmap_updates
/robot1/local_costmap/published_footprint
/robot1/local_plan
/robot1/map
/robot1/map_updates
/robot1/mobile_base/sensors/bumper_pointcloud
/robot1/odom
/robot1/particle_cloud
/robot1/plan
/robot1/robot_description
/robot1/scan
/robot1/tf
/robot1/tf_static
/robot1/waypoints
/robot2/cmd_vel
/robot2/global_costmap/costmap
/robot2/global_costmap/costmap_updates
/robot2/imu
/robot2/initialpose
/robot2/intel_realsense_r200_depth/camera_info
/robot2/intel_realsense_r200_depth/depth/camera_info
/robot2/intel_realsense_r200_depth/depth/image_raw
/robot2/intel_realsense_r200_depth/depth/image_raw/compressed
/robot2/intel_realsense_r200_depth/depth/image_raw/compressedDepth
/robot2/intel_realsense_r200_depth/depth/image_raw/theora
/robot2/intel_realsense_r200_depth/image_raw
/robot2/intel_realsense_r200_depth/image_raw/compressed
/robot2/intel_realsense_r200_depth/image_raw/compressedDepth
/robot2/intel_realsense_r200_depth/image_raw/theora
/robot2/intel_realsense_r200_depth/points
/robot2/joint_states
/robot2/local_costmap/costmap
/robot2/local_costmap/costmap_updates
/robot2/local_costmap/published_footprint
/robot2/local_plan
/robot2/map
/robot2/map_updates
/robot2/mobile_base/sensors/bumper_pointcloud
/robot2/odom
/robot2/particle_cloud
/robot2/plan
/robot2/robot_description
/robot2/scan
/robot2/tf
/robot2/tf_static
/robot2/waypoints
/rosout

• 控制robot1或robot2

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot1/cmd_vel
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot2/cmd_vel