$ roslaunch mrobot_gazebo mrobot_laser_nav_gazebo.launch
<launch>
<!-- 设置launch文件的参数 -->
<arg name="world_name" value="$(find mrobot_gazebo)/worlds/cloister.world"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 运行gazebo仿真环境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加载机器人模型描述参数 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mrobot_gazebo)/urdf/mrobot_with_rplidar.urdf.xacro'" />
<!-- 运行joint_state_publisher节点,发布机器人的关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加载机器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
$ roslaunch mrobot_navigation gmapping_demo.launch
可以看到机器人在rviz中同步显示,周围的红点(颜色可设置)是激光雷达传感器实时检测到的二维环境深度信息,并且根据当前的深度信息建立了部分已知环境的地图,呈现浅灰色。
现在启动键盘控制节点,让机器人动起来:
$ roslaunch mrobot_teleop mrobot_teleop.launch
$ rosrun map_server map_saver
$ rosrun map_server map_saver
map.png
map.yaml
image: map.pgm
resolution: 0.050000
origin: [-15.400000, -12.200000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196