ros actor lidar

1.

sudo apt-get install ros-xxx-joint-state-publisher-gui

xxx替换为当前ros版本 kinetic indigo melodic

2.

https://blog.csdn.net/qq_43279579/article/details/115017677?spm=1001.2101.3001.6650.5&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-5.essearch_pc_relevant&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-5.essearch_pc_relevant

https://gitee.com/harrietlh

3.rviz显示urdf模型：No transform from [base_link] to [base_footprint]

https://www.pianshen.com/article/93361317396/

base_link

4. ubunut16.04 kinetic版本gazebo7升级为gazebo9

https://blog.csdn.net/weixin_47272122/article/details/112572366?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.essearch_pc_relevant&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.essearch_pc_relevant

5. gazebo之actor标签行人添加碰撞属性

https://blog.csdn.net/allenhsu6/article/details/114068662

6. rosbag

rosbag record -O with_map_gn0_0.bag /tf /odom /base_link /map /scan

7. laser_link

base_link

8.

roslaunch mbot_description view_mbot_with_laser_gazebo.launch

roslaunch mbot_teleop mbot_teleop.launch

rosrun rviz rviz

rosbag record -O nocircle.bag /tf /odom /base_link /map /scan

rosbag play nocircle.bag