turtlebot3环境安装

1.安装依赖

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

2.安装三个包

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

3.编译三个包

cd /src

catkin_make

4.测试

https://www.ncnynl.com/archives/201707/1788.html

注意事项：

1)把simulation里的turtlebot模型拷贝进./gazebo中

2)需要设置model，目前都设置的waffle

5.根据需要更改文件

turtulebot3文件夹下

1)turtlebot3_description中修改turtlebot3_waffle_pi.gazebo.xacro文件，添加ground_truth功能

 
   
      map
      base_footprint
      ground_truth
      10.0
   
 

2)turtlebot3_navigation/launch/amcl.launch

设置激光雷达测距范围   

3)turtlebot3_navigation/launch/move_base.launch

这里主要是修改了地图订阅的话题、cost_map的一些参数

 
 
 
 

 
 

 
 

  

  
   
   
   
   
   

   
   
   
   
   
 

4)turtlebot3_navigation/launch/turtulebot3_navigation.launch

这里改动：1.两个地图服务器;  2.启动自己修改的move_base

 
 
 

 
 
 

 
 
   
 
 
 
 

 
 
 
 

 
 
   
 

 
 

 
 
              args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
 

4)turtlebot3_navigation/params里修改move_base的参数

turtulebot3_simulation文件夹下

1)turtlebot3_gazebo/launch

根据自己需要修改创建仿真环境的launch文件，添加环境、机器人

2)turtlebot3_gazebo/worlds

这个文件夹下放入自己创建的world模型