移动机器人仿真梳理_the kobuki robot

最近系统重装，重新配置仿真环境，因此再次梳理一下

假设ubuntu16中已经安装完ros-kinetic.

1、仿真环境配置

建立ros工作空间:

source /opt/ros/kinetic/setup.bash
sh creat_pkg.sh
mkdir -p ~/ros_gazebo/src
cd ~/ros_gazebo
catkin_make
source ~/ros_gazebo/devel/setup.bash
echo $ROS_PACKAGE_PATH
#输出/home/jk/ros_gazebo/src:/opt/ros/kinetic/share

新建package：

cd ~/ros_gazebo/src/
catkin_create_pkg my_ros_sim std_msgs rospy roscpp
cd ~/ros_gazebo/
catkin_make
 

运行以下命令，看看是否缺少一些包。

roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

安装对应的缺少的包到src下(turtlebot_simulator包含turtlebot_gazebo,turtlebot_interactions包含turtlebot_rviz_launchers)

cd ~/ros_gazebo/src
git clone https://github.com/turtlebot/turtlebot_simulator.git
git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_interactions.git 
 

编译：

#可能需要安装以下包
sudo apt-get install ros-kinetic-joy
catkin_make

 

2、下载model，修改launch

下载：gazebo_model，并解压到~/.gazebo下，如下图：

cd ~/.gazebo/
tar -xzvf models.tar.gz 

2.1 修改turtlebot_world.launch

<launch>
<!--有修改-->
  <arg name="gui"        default="true"/>
  <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>
 
  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <!--<arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> --> <!-- kinect, asus_xtion_pro -->
 <!--有修改-->
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR hokuyo)"/>
 
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>
 
  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
  </include>
 
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>
 
  <!-- Fake laser -->
  <node pkg="nodelet" type="nodelet"