ros与gazebo仿真入门-四轮转向(4ws)小车建图导航仿真
说明
- 介绍如何利用4ws小车进行建图和导航
步骤
- 利用rcm安装4ws仿真程序
#安装rcm
curl -k https://www.ncnynl.com/rcm.sh | bash -
#安装4ws代码
rcm -s install_ros1_four_nav_ws
- 效果
+---------------------------------------------------+
| |
| ============================================= |
| |
| Welcome to ROS Commands Manager CLI |
| |
| ============================================= |
| Author:ncnynl |
| Email:1043931@qq.com |
| Website:https://ncnynl.com |
| Date:2022-11-18 |
| QQ Qun B:926779095 |
| QQ Qun C:937347681 |
| QQ Qun D:562093920 |
+---------------------------------------------------+
#####################################################
########Alternative scripts
#####################################################
ros1_gazebo:
ID:139 - install_ros1_four_nav_ws.sh
------------------------------------------Install ros1 four wheel navigation gazebo car shell
------------------------------------------ https://www.ncnynl.com/archives/202303/5841.html
└ Whether to execute the script? [Y/n]
- 输入y即可自动安装
测试
- 启动仿真
roslaunch robot_launch launch_navigation_simulation.launch
- gazebo效果图
- 启动建图和导航
roslaunch navigation_params navigation_slam.launch
- rviz效果图
- 通过点击rviz上的2D Nav Goal,再在地图上设置目标点实现导航
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