修改world
进入turtlebot_gazebo包
roscd turtlebot_gazebo
/opt/ros/kinetic/share/turtlebot_gazebo
tree
.
├── cmake
│ ├── turtlebot_gazeboConfig.cmake
│ └── turtlebot_gazeboConfig-version.cmake
├── launch
│ ├── amcl_demo.launch
│ ├── gmapping_demo.launch
│ ├── includes
│ │ ├── create.launch.xml
│ │ ├── kobuki.launch.xml
│ │ └── roomba.launch.xml
│ └── turtlebot_world.launch
├── maps
│ ├── playground.pgm
│ └── playground.yaml
├── package.xml
└── worlds
├── corridor.world
├── empty.world
└── playground.world
在* turtlebot_world.launch*文件中, 通过加载gazebo_ros包中的empty.launch启动Gazebo, 通过名为world_name 的参数可以修改仿真的Gazebo环境.
sudo vim turtlebot_world.launch
将
<arg name="world_name" value="$(arg world_file)"/>
修改为自己的环境
<arg name="world_name" value="$(find turtlebot_gazebo)/worlds/you_world_name.world"/>
建图
启动建图功能.必须启动该功能,机器人才能建图.
roslaunch turtlebot_gazebo gmapping_demo.launch
启动Rviz查看建图过程.最好用下面的方式来启动Rviz,使用rosrun rviz rviz命令来启动会出问题.
roslaunch turtlebot_rviz_launchers view_navigation.launch
当然,为了建图,需要移动Turtlebot.所以我们需要启动键盘控制.
roslaunch turtlebot_teleop keyboard_teleop.launch