1,安装rbx1
cd catkin_ws/src/
git clone https://github.com/pirobot/rbx1.git
cd ..
catkin_make
2运行彷真
roslaunch rbx1_bringup fake_turtlebot.launch
3运行RVIZ
rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz
4控制机器人运动
1)手动运行
2)topic
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'
rrostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'