ROS2 Foxy与Webots下TurtleBot3 仿真SLAM

准备工作

安装webots_ros2软件包

ROS2安装turtlebot3_cartographer包

sudo apt install ros-${ROS_DISTRO}-turtlebot3-cartographer

或者源码编译

source /opt/ros/${ROS_DISTRO}/local_setup.bash

# Retrieve the sources
cd /path/to/ros2_ws
git clone -b ${ROS_DISTRO}-devel https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3

# Check dependencies
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

# Building packages
colcon build --packages-up-to turtlebot3_navigation2
source install/local_setup.bash

运行SLAM

打开一个终端

ros2 launch webots_ros2_turtlebot robot_launch.py

打开另一个终端

ros2 launch turtlebot3_cartographer cartographer.launch.py \
    use_sim_time:=true

Git地址

https://github.com/cyberbotics/webots_ros2/wiki/SLAM-with-TurtleBot3