turtlebot3环境安装

1.安装依赖

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

2.安装三个包

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

3.编译三个包

cd /src

catkin_make

4.测试

https://www.ncnynl.com/archives/201707/1788.html

注意事项：

1)把simulation里的turtlebot模型拷贝进./gazebo中

2)需要设置model，目前都设置的waffle

5.根据需要更改文件

turtulebot3文件夹下

1)turtlebot3_description中修改turtlebot3_waffle_pi.gazebo.xacro文件，添加ground_truth功能

  <gazebo>
    <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
      <frameName>map</frameName>
      <bodyName>base_footprint</bodyName>
      <topicName>ground_truth</topicName>
      <updateRate>10.0</updateRate>
    </plugin>
  </gazebo>

2)turtlebot3_navigation/launch/amcl.launch

设置激光雷达测距范围    <param name="laser_max_range"           value="3.5"/>

3)turtlebot3_navigation/launch/move_base.launch

这里主要是修改了地图订阅的话题、cost_map的一些参数

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />

  <!--设置move_base路径规划用的地图话题 -->
  <arg name="map_topic"  default="/path_map"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

   <!-- 修改cost_map参数 -->

   <!-- 用自己设定的layer插件，gloabal、local -->
    <rosparam file="$(find turtlebot3_navigation)/param/my_costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/my_costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/my_local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/my_global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/my_move_base_params.yaml" command="load" />

<!-- 用自己设定的全局和局部路径规划 -->
    <rosparam file="$(find turtlebot3_navigation)/param/my_dwa_local_planner_params_$(arg model).yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/my_global_planner_params_$(arg model).yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="/map" to="$(arg map_topic)"/>
  </node>
</launch>

4)turtlebot3_navigation/launch/turtulebot3_navigation.launch

这里改动：1.两个地图服务器;  2.启动自己修改的move_base

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="map_file" default="$(find turtlebot3_navigation)/maps/map_1.yaml"/>

  <!-- 两张地图 需要把自己的地图放到maps文件夹里-->
  <arg name="map_file_2" default="$(find turtlebot3_navigation)/maps/map_2.yaml"/>
  <arg name="open_rviz" default="true"/>

  <!-- TurtleBot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>
 
  <!-- Map server -->
  <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

  <!-- Map server 2 用来加载move_base用来规划路径的地图 -->
  <node pkg="map_server" name="map_server_2" type="map_server" args="$(arg map_file_2)">
  <remap from="map" to="/path_map"/>
  </node>

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/my_move_base.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <!-- AMCL -->
  <include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>

  <!-- rviz -->
  <group if="$(arg open_rviz)">
    <node pkg="rviz" type="rviz" name="rviz" required="true"
          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
  </group>
</launch>

4)turtlebot3_navigation/params里修改move_base的参数

turtulebot3_simulation文件夹下

1)turtlebot3_gazebo/launch

根据自己需要修改创建仿真环境的launch文件，添加环境、机器人

2)turtlebot3_gazebo/worlds

这个文件夹下放入自己创建的world模型