7、使用Gazebo仿真TurtleBot3

Gazebo是一款3D仿真器，支持机器人开发所需的机器人、传感器和环境模型，并且通过搭载的物理引擎可以得到逼真的仿真结果。Gazebo是近年来最受欢迎的三维仿真器之一，并被选为美国DARPA机器人挑战赛7的官方仿真器。

1、启动Gazebo

gazebo

 2、启动虚拟机器人空世界仿真

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

注意： export SVGA_VGPU10=0

 3、启动虚拟机器人有环境的仿真

（1）

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

（2）  键盘控制

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

（3）仿真控制 

在Gazebo中自动避障行驶的TurtleBot3

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

（4）调用rviz 

cd ~/catkin_ws
export SVGA_VGPU10=0
source ./devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

注意：可以通过修改size来变化激光扫描边缘的粗细