- 建图
先将gazebo_pkg放在catkin_ws里编译成功。
roslaunch gazebo_pkg race.launch
控制小车建图
export TURTLEBOT3_MODEL=burger
roslaunch gazebo_pkg slam_gmapping.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
保存地图
要先安装map_server再保存
sudo apt-get install ros-melodic-map-server
rosrun map_server map_saver -f ~/catkin_ws/src/gazebo_pkg/maps/map1
至此,建图完成
- 导航
roslaunch gazebo_pkg move_base.launch
设置目标点(2D_Navgoal)
点rviz里粉红色的箭头,小车就会移动。