基于TurtleBot3在Gazebo地图实现机器人远程控制

1. TurtleBot3环境配置

# 下载TurtleBot3核心包
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# 构建环境
cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
# 设置默认机型（burger/waffle/waffle_pi）
echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
source ~/.bashrc

1. waffle_pi
   
2. waffle
   
3. burger
   

2. 启动Gazebo仿真

# 使用空白环境仅加载机器人
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
# 使用默认预置环境
roslaunch turtlebot3_gazebo turtlebot3_world.launch 
# 房屋环境（首次需下载200M模型）
roslaunch turtlebot3_gazebo turtlebot3_house.launch 

1. 空白环境
   
   
2. 默认预置环
   
   
3. 房屋环境
   
   

3. 控制

# 先加载环境及Turtlebot
roslaunch turtlebot3_gazebo turtlebot3_house.launch 

# 再启动新终端
# 使用WASD控制移动，空格急停
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
# 启动自主避障节点
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch