Turtlebot3与仿真-仿真环境搭建(melodic版)

说明

• 介绍如何利用turtlebot3进行仿真

• 测试环境：Ubuntu 18 和 ROS melodic

操作步骤

• 安装ubuntu18
• 安装ROS melodic

• 安装仿真系统依赖包

sudo apt install ros-melodic-gmapping

sudo apt install ros-melodic-map-server

sudo apt install ros-melodic-navigation

下面是参考链接推荐的，不建议安装，特别是qt4，和已有的qt5冲突

 sudo apt-get install -y ros-melodic-navigation ros-melodic-teb-local-planner* ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-gazebo-ros-control ros-melodic-ackermann-msgs ros-melodic-serial qt4-default ros-melodic-effort-controllers ros-melodic-joint-state-controller ros-melodic-tf2-ros ros-melodic-tf 

• 安装turtlebot3_simulation包和turtlebot3

 turtlebot3_simulation包需要搭配turtlebot3包使用

可以提前加载到gitee网站，再git clone gitee网址

cd ~/TURTLEBOT3_WS/src/
 
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
 
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
 
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations
 
git clone https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning
 

• 新终端，启动仿真测试

source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
roslaunch turtlebot3_fake turtlebot3_fake.launch

• TurtleBot3 仿真节点不依赖实体机器人，也可以在rviz里通过teleop节点进行控制

• 新终端，启动键盘控制

source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

 Turtlebot3与仿真-仿真环境搭建(kinetic版) - 创客智造