Turtlebot3与仿真-Standalone Gazebo Plugin

说明

介绍如何在没用到ROS的情况下使用tb3进行仿真
测试环境：Ubuntu 16.04 + ROS Kinetic

操作步骤

安装相关的包及库

$ sudo apt-get install libgazebo7-dev
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_gazebo_plugin
$ vim ~/.bashrc
## 添加下面两段话到内容的最后面，保存退出
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${turtlebot3_gazebo_plugin path}/build
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${turtlebot3_gazebo_plugin path}/models

## 编译
$ cd ${turtlebot3_gazebo_plugin path}
$ mkdir build
$ cd build
$ cmake ..
$ make

TIP: turtlebot3_gazebo_plugin path = ~/turtlebot3_gazebo_plugin

新终端，运行插件

$ cd ${turtlebot3_gazebo_plugin}
$ gazebo worlds/turtlebot3_${TB3_MODEL}.world
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种

请输入图片描述

键盘控制

w - set linear velocity up
x - set linear velocity down
d - set angular velocity up
a - set angular velocity down
s - set all velocity to zero

新终端，查看topic

$ gz topic -l

新终端，订阅scan数据


$ gz topic -e /gazebo/default/user/turtlebot3_${TB3_MODEL}/lidar/hls_lfcd_lds/scan

新终端，订阅 image 数据


## waffle
$ gz topic -e /gazebo/default/user/turtlebot3_waffle/image/intel_realsense_r200/image
## Waffle Pi
$ gz topic -e /gazebo/default/user/turtlebot3_waffle_pi/image/raspberry_pi_cam/image

新终端，启动监听

$ cd ${turtlebot3_gazebo_plugin}/build
$ ./lidar_listener ${TB3_MODEL}

新终端，启动监听

$ cd ${turtlebot3_gazebo_plugin}/build
$ ./lidar_listener ${TB3_MODEL}

参考链接