嵌入式系统应用开发——ROS机器人定位导航仿真

一、安装插件与相关配置

1.下载源码包

git clone https://github.com/xmy0916/racecar.git

2.安装相应插件

（1）ros-kinetic-driver-base

sudo apt-get install ros-kinetic-driver-base

（2）ros-kinetic-gazebo-ros-control、ros-kinetic-effort-controllers、ros-kinetic-joint-state-controller

sudo apt-get install ros-kinetic-gazebo-ros-control

sudo apt-get install ros-kinetic-effort-controllers

sudo apt-get install ros-kinetic-joint-state-controller

（3）ros-kinetic-ackermann-msgs

sudo apt-get install ros-kinetic-ackermann-msgs

（4）ros-kinetic-global-planner、ros-kinetic-teb-local-planner

sudo apt-get install ros-kinetic-global-planner

sudo apt-get install ros-kinetic-teb-local-planner