ubuntu16.04安装turtlebot

安装环境

• Ubuntu16.04
• ROS -kinetic

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turtlebot安装

$ sudo apt-get install ros-kinetic-turtlebot*

启动仿真环境

$ roslaunch turtlebot_gazebo turtlebot_world.launch

错误：*Invalid tag: environment variable ‘TURTLEBOT_GAZEBO_WORLD_FILE’ is not set. Arg xml is arg default=”$(env TURTLEBOT_GAZEBO_WORLD_FILE)” name=”world_file”The traceback for the exception was written to the log file.

解决方法：重新配置环境

(1)初始化rosdep

$ sudo rosdep init
$ rosdep update

(2)环境设置

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

成功之后的界面：

键盘控制

打开一个新终端：

$ roslaunch turtlebot_teleop keyboard_teleop.launch

注意：只能在终端界面用键盘控制turtlebot移动，无法在Gazebo界面控制.

运行rviz

打开一个新终端：

$ roslaunch turtlebot_rviz_launchers view_robot.launch