通过turtlebot3+gazebo仿真 学习建图及导航

ubuntu 16.04 和ros kinetic 

1.q安装TurtleBot3及依赖项：

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

　然后安装turtlebot3的源码：

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws 
$ catkin_make

　　

如果catkin_make完成没有任何错误，使用TurtleBot3的准备将完成。编译成功后记得source一下这些rospack才会生效。

然后还要设置一下turtlebot3的类型,

export TURTLEBOT3_MODEL=burger

2、打开仿真世界

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

建完图后：

rosrun map_server map_saver -f ~/map

3.导航：

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

后面的map_file:=是你的地图路径