Ubuntu18.04 ROS仿真turtlebot3进行Gmapping,Hector,和cartographer建图

前提是已经安装ROS
这里推荐大佬的一键ROS安装教程：

https://blog.csdn.net/qq_27865227/article/details/120277420?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522164845438816781685363425%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=164845438816781685363425&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_alltop_positive~default-1-120277420.142^v5control,143^v6control&utm_term=%E9%B1%BC%E9%A6%99ROS&spm=1018.2226.3001.4187

1.安装依赖

**

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

2.安装源码

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

3.安装仿真依赖

sudo apt-get install -y ros-melodic-navigation ros-melodic-teb-local-planner ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-gazebo-ros-control ros-melodic-ackermann-msgs ros-melodic-serial qt4-default ros-melodic-effort-controllers ros-melodic-joint-state-controller ros-melodic-tf2-ros ros-melodic-tf

4.将模型写入.bashrc文件中

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
roslaunch turtlebot3_gazebo turtlebot3_house.launch 

顺利的话会显示下图界面

打开一个新终端输入

sudo apt-get install ros-melodic-gmapping
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

顺利的话会显示下图，并且可以控制小车建图。如果想要使用Hector的话就把gampping改为hector

注意，如果这里不显示地图而显示空白的话！

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

要进行cartographer建图，首先要安装cartographer,参考下文博主教程

https://blog.csdn.net/weixin_39458342/article/details/103276265

安装成功之后

roslaunch turtlebot3_gazebo turtlebot3_house.launch

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

我刚刚运行时出现了这个界面代表出现了问题

这个情况是gazebo_ros_imu的一个bug
解决办法：

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer configuration_basename:=turtlebot3_lds_2d_gazebo.lua

出现下图即证明你成功了！

接下来打开键盘控制终端

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

就可以开始建图了