在Gazebo中使用turtlebot+hokuyo运行gmapping

在Gazebo中使用turtlebot+hokuyo运行gmapping

1. 建一个新的ros工作空间 catkin_ws,在github下面下载好相应的源码

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

git clone https://github.com/robopeak/rplidar_ros.git
git clone https://github.com/turtlebot/turtlebot_simulator.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/turtlebot/turtlebot.git

2. 测试源码

编译

cd ~/catkin_ws
catkin_make

启动gazeb，启动gmapping ，运行rviz ，运行键盘控制机器人运动。

roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo gmapping_demo.launch 
roslaunch turtlebot_rviz_launchers view_navigation.launch 
roslaunch turtlebot_teleop keyboard_teleop.launch 

3.使用hokuyo激光雷达

3.1 修改 /turtlebot_simulator / turtlebot_gazebo / launch / turtlebot_word.launch 文件。

将

  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>

修改为

  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR hokuyo)"/>

使用hokuyo发射的激光而不使用kinect转换而来的伪激光
将laser设置修改为

<!-- Fake laser -->
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <!--node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
  </node此处有修改-->

3.2 在/turtlebot/turtlebot_description/robots 路径下，建立相应的urdf文件：kobuki_hexagons_KinectHokuyo.urdf.xacro

修改完毕后完整的文件内容如下

<?xml version="1.0"?>
<!--
    - Base      : kobuki
    - Stacks    : hexagons
    - 3d Sensor : kinect+hokuyo
-->    
<robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">

  <!--xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_common_library.urdf.xacro"/-->
  <xacro:include