针对以前适用于stage 4.1, ROS Kinetic的world文件无法用于ROS Melodic系统
一致出现问题:Segmentation fault (core dumped)然后退出
步骤如下:
catkin_ws/src目录下:
git clone https://github.com/rtv/stage_ros.git
然后回到catkin_ws目录下,编译后stage_ros包用于替换系统原有包,用rospack find 查看路径是否正确!
catkin_make
source devel/setup.bash
rospack find stage_ros
修正后的world文件添加noise用于产生噪声,将show_data=0 关闭
define floorplan model
(
# sombre, sensible, artistic
color "gray30"
# most maps will need a bounding box
boundary 1
gui_nose 0
gui_grid 0
gui_outline 0
gui_move 0
gripper_return 0
fiducial_return 0
ranger_return 1
)
resolution 0.02
interval_sim 20 # simulation timestep in milliseconds
# configure the GUI window
window
(
size [ 0.33 0.33 0.2 ]
#pose [ 0.0 0.0 0.0 0.0 ]
localization "gps"
localization_origin [ 0.0 0.0 0.0 0.0 ]
# odometry error model parameters,
# only used if localization is set to "odom"
odom_error [ 0.0 0.0 0.0 0.0 ]
#color "gray50"
origin [ 0.0 0.0 0.0 0.0 ]
#positonal things
drive "diff"
gui_nose 1
laser(
pose [ 0.0 0.0 0.5 0.0 ]
alwayson 1
)
)
robot
(
name "roomba"
pose [-8.0 6.0 0.0 0.0]
color "green"
)
打开界面后可以选择 显示VIEW >> data
所有topic list
/clicked_point
/clock
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/stage/roomba/cmd_vel
/stage/roomba/odometry
/stage/roomba/pose_ground_truth
/stage/roomba/ranger_0/laserscan
/tf
/tf_static