ros_by_example的安装

环境：ubuntu14

sudo apt-get install -y ros-indigo-turtlebot-bringup \
ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \
ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \
ros-indigo-laser-* ros-indigo-hokuyo-node \
ros-indigo-audio-common gstreamer0.10-pocketsphinx \
ros-indigo-pocketsphinx ros-indigo-slam-gmapping \
ros-indigo-joystick-drivers python-rosinstall \
ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \
python-setuptools ros-indigo-dynamixel-motor-* \
libopencv-dev python-opencv ros-indigo-vision-opencv \
ros-indigo-depthimage-to-laserscan ros-indigo-arbotix-* \
ros-indigo-turtlebot-teleop ros-indigo-move-base \
ros-indigo-map-server ros-indigo-fake-localization \
ros-indigo-amcl git subversion mercurial

cd ~/catkin_ws/src
git clone https://github.com/pirobot/rbx1.git
cd rbx1
git checkout indigo-devel
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
rospack profile

sudo apt-get install ros-indigo-arbotix-*

源码保存到gitee下载更快https://gitee.com/juzhango/rbx1.git

2 运行机器人

$ roslaunch rbx1_bringup fake_turtlebot.launch     #或者 roslaunch rbx1_bringup fake_pi_robot.launch
$ rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz #注意：这条指令中的'`'是键盘左上角'Esc'键下面的那个键

报错：

rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz
[ INFO] [1598320098.027861057]: rviz version 1.11.19
[ INFO] [1598320098.027981072]: compiled against Qt version 4.8.6
[ INFO] [1598320098.028004031]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1598320098.239085949]: Stereo is NOT SUPPORTED
[ INFO] [1598320098.239448096]: OpenGl version: 3 (GLSL 1.3).
VMware: vmw_ioctl_command error 无效的参数.
已放弃 (核心已转储)

解决：

export SVGA_VGPU10=0
# 或者
echo "export SVGA_VGPU10=0" >> ~/.bashrc

发布速度话题

rostopic pub /cmd_vel geometry_msgs/Twist -r 10 '{linear: {x:  0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'