ros2与turtlebot3仿真教程-自主探索建图

文章说明

• 本教程主要介绍如何实现turtlebot3仿真自探索建图
• 测试环境：

- Ubuntu 22.04 + ROS2 Humble
- Ubuntu 24.04 + ROS2 Jazzy

前提准备

• 安装ros2，参考文章ros2与turtlebot3仿真教程-安装ros2
• 安装turtlebot3仿真，ros2与turtlebot3仿真教程-安装turtlebot3
• 通过RCM安装multirobot_map_merge

$ rcm -s install_multirobot_map_merge

操作步骤

• 启动仿真建图

# 方式一
# Humble or Jazzy
# 启动后将在后台打开gazebo，使用nav2_minimal_tb3_sim包整合的tb3模型，同时打开nav2导航程序和slamtoolbox建图程序
$ export TURTLEBOT3_MODEL=waffle
$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_gazebo/models
$ ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

# 方式二
# Jazzy
# 启动后会直接加载gazebo，使用TB3官方仿真模型，，同时打开nav2导航程序和slamtoolbox建图程序
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch nav2_bringup bringup_launch.py use_sim_time:=true slam:=True params_file:=/home/ubuntu/ros2_tb3_ws/src/turtlebot3/turtlebot3_navigation2/param/burger.yaml
$ ros2 launch nav2_bringup rviz_launch.py use_sim_time:=true

• rviz效果图：　

• 启动自主探索

$ ros2 launch explore_lite explore.launch.py

• 执行后，会自动进行探索并完成建图
• rviz效果图

参考资料

• multirobot_map_merge ros2
• multirobot_map_merge wiki

演示视频

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