ROS2 Humble仿真turtlebot3

环境：ubuntu22.04+ROS2 humble，事先已安装gazebo

一、准备工作

安装turtlebot3功能包

mkdir -p ~/turtlebot3_ws_my/src
cd ~/turtlebot3_ws_my/src/
git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

编译

cd ..
colcon build --symlink-install

添加环境变量

echo 'source ~/turtlebot3_ws_my/install/setup.bash' >> ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws_my/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

二、建图

启动仿真环境

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

打开rviz2准备绘图

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

启动键盘控制

ros2 run turtlebot3_teleop teleop_keyboard

保存地图

ros2 run nav2_map_server map_saver_cli -f ~/路径/地图名称

三、导航

启动仿真环境

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

导航(使用刚才保存的地图)

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true map:=路径/地图名称.yaml

在rviz2可视化界面，先用2D Pose Estimate进行位姿估计，然后用Nav2 Goal选择目标点的位姿进行导航。

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注意：在建图或导航过程中，每新开一个终端都需要先编译，编译命令如下

colcon build --symlink-install