ros与gazebo仿真入门-四轮转向(4ws)小车建图导航仿真

说明

• 介绍如何利用4ws小车进行建图和导航

步骤

• 利用rcm安装4ws仿真程序

#安装rcm
curl -k https://www.ncnynl.com/rcm.sh | bash - 
#安装4ws代码
rcm -s install_ros1_four_nav_ws

• 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 
#####################################################
ros1_gazebo:
  ID:139 - install_ros1_four_nav_ws.sh
  ------------------------------------------Install ros1 four wheel navigation gazebo car shell
  ------------------------------------------ https://www.ncnynl.com/archives/202303/5841.html

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

• 输入y即可自动安装

测试

• 启动仿真

roslaunch robot_launch launch_navigation_simulation.launch

• gazebo效果图

• 启动建图和导航

roslaunch navigation_params navigation_slam.launch

• rviz效果图

• 通过点击rviz上的2D Nav Goal，再在地图上设置目标点实现导航