1.先安装环境:
sudo apt install ros-foxy-cartographer
sudo apt-get install ros-foxy-gazebo-*
sudo apt install ros-foxy-cartographer-ros
sudo apt install ros-foxy-turtlebot3
sudo apt install ros-foxy-turtlebot3-simulations
2.配置仿真模型路径:
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:'ros2 pkg \prefix turtlebot3_gazebo \'/share/turtlebot3_gazebo/models/
3.启动仿真环境:
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
4.运行SLAM功能节点:
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
5.运行键盘控制节点:
export TURTLEBOT3_MODEL=burger
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