ROS系统SLAM基础学习：gazebo仿真机器人自主导航

软件	版本
Ubuntu	16.04LTS
ROS	kinetic
gazebo	7.16

ROS中的导航框架有move_base和amcl两种，
使用下载导航功能包

sudo apt-get install ros-kinetic-navigation

move_base节点配置

1、在ROS工作空间下的mbot_navigation功能包下的launch文件夹下，创建move_base.launch文件，内容如下

<launch>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
    <rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find mbot_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find mbot_navigation)/config/mbot/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find mbot_navigation)/config/mbot/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find mbot_navigation)/config/mbot/base_local_planner_params.yaml" command="load" />
  </node>
  
</launch>

补充：
在ROS工作空间下的mbot_navigation功能包下的rviz文件夹中建立nav.rviz文件，内容如下：

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /RobotModel1/Links1/base_footprint1
        - /Pose Array1
      Splitter Ratio: 0.652661026
    Tree Height: 691
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
    Name: Tool Properties
    Splitter Ratio: 0.428570986
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 0.5
      Class: rviz/Grid
      Color: 0; 0; 0
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 80
      Reference Frame: odom
      Value: true
    - Angle Tolerance: 0.100000001
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: false
      Keep: 100
      Name: Odometry
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.300000012
        Head Radius: 0.100000001
        Shaft Length: 1
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /odom
      Unreliable: false
      Value: false
    - Angle Tolerance: 0.100000001
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: false
      Keep: 100
      Name: Odometry EKF
      Position Tolerance: 0.100000001
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.300000012
        Head Radius: 0.100000001
        Shaft Length: 1
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /odom
      Unreliable: false
      Value: false
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        back_caster_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_footprint:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_caster_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        laser_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        left_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        right_wheel_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.699999988
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: true
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 255; 0; 0
      Enabled: true
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Local Plan
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style