6、使用RViz 仿真 TurtleBot3

1、如果前面一直没有创建ros工作环境，创建一个和大家一样的先

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

source devel/setup.bash

echo $ROS_PACKAGE_PATH

2、安装turtlebot3依赖：

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation

3、安装TurtleBot3 Simulation

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd ~/catkin_ws
rosdep install --from-paths src -i -y 
catkin_make
source ./devel/setup.bash

上面第二句的意思是安装依赖的意思。  

4、启动仿真

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_fake turtlebot3_fake.launch

5、点击move camera，然后缩放鼠标可以放大缩小机器人

 

6、使用键盘控制仿真的机器人

(1)

cd ~/catkin_ws
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

 (2)控制的键盘如下

7、输入rqt_graph查看节点和话题

 8、随便修改下shape的几个参数，让箭头小一些看起来漂亮点

 

9、查看tf变换

 （1）在左侧选中TF

（2）

rosrun rqt_tf_tree rqt_tf_tree