Turtlebot3与ORBSlam3联合仿真

Turtlebot3与ORBSlam3联合仿真

1.实现双机互联运行ROS

(1)主机设置

打开根目录下的.bashrc文件，并添加如下所示的代码：

export ROS_IP=主机IP
export ROS_HOSTNAME=${
   ROS_IP}
export ROS_MASTER_URI=http://${ROS_IP}:11311

(2)从机设置

打开根目录下的.bashrc文件，并添加如下所示的代码：

export ROS_IP=从机IP
export ROS_HOSTNAME=${
   ROS_IP}
export ROS_MASTER_URI=http://${ROS_IP}:11311

(3)检查是否连通

主机运行

roscore

从机运行

rostopic list

如果出现以下结果说明连接成功

/rosout
/rosout_agg

2.从机运行仿真环境

roslaunch turtlebot3_gazebo turtlebot3_xxx.launch

在主机端查看从机发布的消息是否显示正常，如果正常，在主机端可以看到如下结果：

~$ rostopic list 
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb