turtlebot3仿真 建图及导航

1.Ubuntu 16.04 和 ROS kinetic版本

2.安装TurtleBot3及依赖包（有选择安装）

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

3 安装turtlebot3源码

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws
$ catkin_make

4  sudo gedit ~/.bashrc    打开文件

在后面加上这一句（burger版本的机器人）

export TURTLEBOT3_MODEL=burger

5  打开仿真环境

 $ roslaunch turtlebot3_gazebo turtlebot3_world.launch

6  建图

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

7 打开键盘控制  保存地图

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

rosrun map_server map_saver -f ~/map

8   导航

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