3.搭建仿真环境

安装arbotix：

sudo apt-get install-indigo-arbotix
mkdir -p ~/catkin/src
cd ~/catkin/src
catkin_init_workspace
cd ..
catkin_make
cd src
git clone https://github.com/pirobot/rbx1.git  

运行

roscore
//打开一个新终端
source ~/catkin_make/devel/setup.bash
//如不想每次输入上面的命令，将它加到./bashrc
roslaunch rbx1_bringup fake_pi_robot.launch //这时机器人已经在运行了
//打开一个新终端
source ~/catkin_make/devel/setup.bash
rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz
//这时可以通过rostopic pub命令让机器人动起来