ros-planning/navigation_tutorials 使用 （rviz跑slam算法）

 

ros-planning/navigation_tutorials

https://github.com/ros-planning/navigation_tutorials/tree/indigo-devel/navigation_stage/launch

 

1)roslaunch navigation_stage move_base_gmapping_5cm.launch

 建图

2)rosrun teleop_twist_keyboard teleop_twist_keyboard.py 

 直接进行键盘控制  

File "/usr/local/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 536, in load_cached_sources_list
    with open(cache_index, 'r') as f:
IOError: [Errno 13] Permission denied: '/home/ygx/.ros/rosdep/sources.cache/index'

原因是没有读写权限，

cd /home/ygx/.ros/rosdep/sources.cache/
ls -l

sudo chmod 744 index 

sudo chmod 744 * #（对所有文件进行开启读写权限）

 

3）导航

move_base_amcl_2.5cm.launch