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

• 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

• 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

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