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Turtlebot3与仿真-加载Gazebo环境

说明

  • 在PC上加载turtlebot3的Gazebo环境
  • 测试环境:Ubuntu 16.04 + ROS Kinetic

在Gazebo加载各种环境

  • 在Gazebo加载Empty World
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种    
$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

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  • 在Gazebo加载TurtleBot3 World
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种 
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

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  • 在Gazebo加载TurtleBot3 House
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch

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在Gazebo环境上控制tb3

  • 新终端,启动键盘控制
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种    
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
  • 新终端,加载Gazebo环境
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种   
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
  • 新终端,启动仿真
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种  
$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
  • 新终端,启动RViz
 $ export TURTLEBOT3_MODEL=${TB3_MODEL}
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种  
$ roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

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标签: turtlebot3与仿真