Ros学习——移动机器人Ros导航详解及源码解析

 

 

1 执行过程

• 1.运行仿真机器人fake_turtlebot.launch：加载机器人模型——启动机器人仿真器——发布机器人状态
• 2.运行amcl节点fake_amcl.launch：加载地图节点map_server——加载move_base节点——加载fake_localization节点（AMCL）
• 3.运行rviz

 

 

2 机器人仿真

//fake_turtlebot.launch

<launch>
  <param name="/use_sim_time" value="false" />

  <!-- Load the URDF/Xacro model of our robot -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find rbx1_description)/urdf/turtlebot.urdf.xacro'" />
   
  <param name="robot_description" command="$(arg urdf_file)" />
    
  <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen" clear_params="true">
      <rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml" command="load" />
      <param name="sim" value="true"/>
  </node>
  
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
      <param name="publish_frequency" type="double" value="20.0" />
  </node>
  
</launch>