Turtlebot3与仿真-单机导航

Turtlebot3与仿真-单机

说明

• 在Gazebo的仿真环境上进行模拟导航
• 测试环境：Ubuntu 16.04 + ROS Kinetic

操作步骤

• 新终端，加载Gazebo环境

$ export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

• 新终端，启动导航程序

$ export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml