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Turtlebot3与仿真-仿真环境搭建(indigo版)

说明

  • 介绍如何在ubuntu14.04下的indigo(ROS版本)下搭建turtlebot3仿真环境

TurtleBot3配置

  • 测试环境:

    • 安装64位的Ubuntu 14.04
    • 安装ROS Indigo (ros-indigo-desktop-full版)
    • 安装Gazebo 2.2
  • 建立工作空间

$ mkdir -p ~/tb3_ws/src
$ cd ~/tb3_ws/src
$ catkin_init_workspace
  • 编译
$ cd ..
$ catkin_make
$ source devel/setup.bash
  • 或者source哪行,增加到~/.bashrc里,这样每次打开终端会自动执行。

  • 安装依赖包:

$ sudo apt-get install ros-indigo-navigation
$ sudo apt-get install ros-indigo-gmapping
$ sudo apt-get install ros-indigo-hector-mapping
  • 下载软件包
$ cd ~/tb3_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ git clone https://github.com/ros-teleop/teleop_twist_keyboard.git
  • 编译
$ cd .. 
$ catkin_make 
  • 修改两个文件
~/tb3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
~/tb3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro
  • 搜索含的行,如下:
<visualize>$(arg imu_visual)</visualize> 
  • 修改为:
<!--visualize>$(arg imu_visual)</visualize-->
  • 因为indigo版本不知道怎么处理 $(arg var) 输入,替换为${var}
  • 再打开turtlebot3_waffle.gazebo.xacro,找到119行,
<pose>$(arg r200_cam_rgb_px) $(arg r200_cam_rgb_py) $(arg r200_cam_rgb_pz) 0 0 0</pose>
  • 修改为:
<pose>${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz} 0 0 0</pose>
  • 找到136行:
<pose>$(arg r200_cam_depth_offset) 0 0 0 0 0</pose>
  • 修改为:
<pose>${r200_cam_depth_offset} 0 0 0 0 0</pose>

gazebo配置

  • 复制turtlebot3模型到gazebo模型文件夹
$ cp -r  $HOME/tb3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3 $HOME/.gazebo/models/
  • 指定机器人模型,可以是burger或waffle
$ export TURTLEBOT3_MODEL={type}
  • {type}为burger或waffle,如:
$ export TURTLEBOT3_MODEL="burger"
  • 启动gazebo
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
  • 启动rviz,进行可视化
$ roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
  • 效果:

请输入图片描述

  • 启动键盘操作
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
  • 效果:

请输入图片描述

参考:

  • Navigation stack: http://wiki.ros.org/navigation
  • Gmapping SLAM: http://wiki.ros.org/gmapping
  • Hector SLAM: http://wiki.ros.org/hector_mapping?distro=indigo
  • http://spectrum.ieee.org/automaton/robotics/robotics-hardware/review-robotis-turtlebot-3
  • http://turtlebot3.robotis.com/en/latest/simulation.html

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