ROS2与turtlebot4仿真入门教程-安装turtlebot4

ROS2与turtlebot4仿真入门教程-安装turtlebot4

说明：

• 介绍如何安装turtlebot4仿真环境
• 测试环境: humble + turtlebot4 simulator

方法1：

• 使用rcm安装apt版本.如果没安装rcm，可以看上一篇

rcm -s install_tb4_humble_source

• 效果

+---------------------------------------------------+
|                                                   |
|   =============================================   |
|                                                   |
|         Welcome to ROS Commands Manager CLI       |
|                                                   |
|   =============================================   |
|   Author:ncnynl                                   |
|   Email:1043931@qq.com                            |
|   Website:https://ncnynl.com                      |
|   Date:2022-11-18                                 |
|   QQ Qun B:926779095                              |
|   QQ Qun C:937347681                              |
|   QQ Qun D:562093920                              |
+---------------------------------------------------+

#####################################################
########Alternative scripts 
#####################################################
ros2_tb4_ignition:
  ID:359 - install_tb4_humble_source.sh
  ------------------------------------------Install ROS2 turtlebot4 simulation humble apt version
  ------------------------------------------

└ Whether to execute the script? [Y/n]

• 输入y即可自动安装

运行：

• 启动标准版

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py

• 效果图：

• 启动lite版

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py model:=lite

• 效果图：

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?isOutside=true&aid=1706366484&bvid=BV1CT42167ZL&cid=1624295947&p=1&as_wide=1&high_quality=1&danmaku=0 " scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"></iframe>