ros2与windows入门教程-ROS2 导航Navigation2

说明：

• 介绍如何在windows上使用ROS2 导航Navigation2

步骤：

• 新建一个cmd命令提示符，执行以下命令，下载预生成的地图

curl -o c:\nav2_ws\map.pgm https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_navigation/maps/map.pgm
curl -o c:\nav2_ws\map.yaml https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_navigation/maps/map.yaml

• 下载Gazebo模型，解压后，将modeles目录移到C:\Users\windows\.gazebo目录里面

• 新建一个cmd命令提示符，执行以下命令，加载ROS2环境，启动模拟环境

call C:\opt\ros\foxy\x64\local_setup.bat

call c:\opt\ros\foxy\x64\share\gazebo\setup.bat

call C:\nav2_ws\install\local_setup.bat

set "SDF_PATH=c:\opt\ros\foxy\x64\share\sdformat\1.6"

set GAZEBO_MODEL_PATH=C:\nav2_ws\install\turtlebot3_gazebo\share\turtlebot3_gazebo\models

set TURTLEBOT3_MODEL=waffle

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• Gazebo Simulation 环境第一次加载需要几分钟

• 新建一个cmd命令提示符，执行以下命令，加载ROS2环境，启动导航

call C:\opt\ros\foxy\x64\local_setup.bat

call c:\opt\ros\foxy\x64\share\gazebo\setup.bat

call C:\nav2_ws\install\local_setup.bat

set TURTLEBOT3_MODEL=waffle

ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=c:\nav2_ws\map.yaml