ubuntu16.04 rrt_exploration仿真

ubuntu16.04 + kinetic
1 安装依赖项
$ sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo
$ sudo apt-get install python-opencv python-numpy python-scikits-learn

2 安装rrt_exploration 、 rrt_exploration_tutorials
$ cd ~/catkin_ws/src/
$ git clone https://github.com/hasauino/rrt_exploration.git
$ git clone https://github.com/hasauino/rrt_exploration_tutorials.git
$ cd ~/catkin_ws
$ catkin_make

打开gazebo仿真
1、Gazebo simulation
roslaunch rrt_exploration_tutorials single_simulated_house.launch
2、Start Exploration
roslaunch rrt_exploration single.launch
3、在rviz里点5个点

• 4 仿真结果