Gazebo Bringup Guide：在gazebo中运行turtlebot模拟gmapping过程

• 准备工作

安装桌面完整版ROS

sudo apt-get install ros-indigo-desktop-full

安装ROS-Gazebo组件

sudo apt-get install ros-indigo-gazebo-ros-*

安装turtlebot相关包

sudo apt-get install ros-indigo-turtlebot-*

• 正式开始

启动Gazebo并加载机器人、环境模型

roslaunch turtlebot_gazebo turtlebot_world.launch

启动键盘遥控节点

roslaunch turtlebot_teleop keyboard_teleop.launch --screen

 

运行gmapping

roslaunch turtlebot_gazebo gmapping_demo.launch

开启rviz观察建图过程

roslaunch turtlebot_rviz_launchers view_navigation.launch