roslaunch turtlebot3_fake turtlebot3_fake.launch
键盘控制行走:
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Gazebo仿真:(提前安装仿真包)
mkdir -p ~/.gazebo/models/
cp -r ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3 ~/.gazebo/models/
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
先打开GAZEBO的仿真环境,产生数据:
roslaunch turtlebot3_gazebo turtlebot3_world.launch
导航:
roslaunch turtlebot3_navigation turtlebot3_navigation.launch
rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/turtlebot3_nav.rviz
建图:
roslaunch turtlebot3_slam turtlebot3_slam.launch
rosrun map_server map_saver -f ~/map