ROS STAGE教程1

默认路径opt/ros/kinetic/share/下有stage 和 stage_ros

到该路径下可运行

rosrun stage_ros stageros $(rospack find stage_ros)/world/willow-erratic.world

或

rosrun stage_ros stageros willow-erratic.world

可以安装键盘控制

sudo apt-get install ros-kinetic-teleop-twist-keyboard

并启动

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
anything else : stop

CTRL-C to quit

用键盘就可以控制图中的蓝色方块移动

鼠标左键移动地图 滚轮放大 右键旋转视图 R键切换视角

roscd stage
rosrun rviz rviz -d `rospack find stage_ros`/rviz/stage.rviz

可显示点云数据