turtlebot_simulator(hydro)

1.打开http://wiki.ros.org/turtlebot_simulator，选择hydro.

2.To use the simulator jump to the Quick Start Guide for instructions about installing and running it. Then head over to thetutorials to get to know more about what you can do with it.

2.1在Quick Start Guide

Install the software

$ sudo apt-get install ros-hydro-turtlebot-simulator默认下载到了home/turtlebot/里。

Start the simulation

$ source /opt/ros/hydro/setup.bash
$ roslaunch turtlebot_gazebo turtlebot_empty_world.launch

2.2tutorials

http://wiki.ros.org/turtlebot_simulator/Tutorials

1. Explore the Gazebo world

   Cruise around in the Gazebo world and use RViz to "see" what's in it.

2. Make a map and navigate with it

   Use the navigation stack to create a map of the Gazebo world and start navigation based on it.

3.安装好之后，每次执行的控制操作

3.1每次都要先

$source /opt/ros/hydro/setup.bash
$roslaunch turtlebot_gazebo turtlebot_empty_world.launch //根据打开的要求不同，需要不同launch文件。

3.2键盘控制Turtlbot运动

在新的终端
$roslaunch turtlebot_teleop keyboard_teleop.launch

因为是Turtlebot2所以也可以用
新的终端
$roslaunch kobuki_keyop keyop.launch

Terminal窗口必须在最前端

3.3看机器人的视野

$roslaunch turtlebot_rviz_launchers view_robot.launch

rviz的左边可以勾选显示什么。在机器人模拟界面可以添加障碍物之类。

3.4Make a map and navigate with it

http://wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it

打开道界面什么都没有。有bug