B站的演示视频
https://www.bilibili.com/video/av15949185?from=search&seid=3609217868527380773
网盘下载源码
链接: https://pan.baidu.com/s/1oc4zCGDWUHhtean5IqjrKw 密码: t5yc
解压至home
先编译包
$ cd ~/AutolaborSimulator
$ catkin_make
再刷新环境
$ source ~/AutolaborSimulator/devel/setup.bash
$ echo "source ~/AutolaborSimulator/devel/setup.bash" >> ~/.bashrc
运行launch文件
$ roslaunch simulation_launch move_base_simulation.launch
即可看到Rviz模拟画面了。