ROS melodic turtlebot3建图导航仿真教程（精简版）

1. 安装ROS-Gazebo组件

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

2. 安装turtlebot

sudo apt-get install ros-melodic-turtlebot*

3. 配置文件

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

4. 启动仿真环境

roslaunch turtlebot3_gazebo turtlebot3_world.launch

5. 启动键盘控制节点

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

6. 启动gmapping建图节点

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

7. 保存建立的静态地图

rosrun map_server map_saver -f ~/map

8. 启动navigation导航节点

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

如果想自己源码编译，怎么做呢？

1. 创建工作空间

mkdir -p turtlebot_ws/src
cd turtlebot_ws/src/
catkin_init_workspace 
cd ..
catkin_make

2. 下载源码包

cd src

git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

3. 编译测试

cd ..
catkin_make
source devel/setup.bash

# 依次启动仿真、键盘控制、建图、保存地图、导航节点
roslaunch turtlebot3_gazebo turtlebot3_world.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
rosrun map_server map_saver -f ~/map
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

如果想要自定义一些算法，修改参数测试，就可以从源码中turtlebot3修改，编译，测试验证。