全球军事网站,网站服务器与虚拟主机,不准别人网站做反链,网页设计的注意事项没有真实小车的情况下#xff0c;利用gazebo的仿真#xff0c;操作小乌龟来学习ros2。废话不多说#xff0c;直接上命令。
Install Gazebo
sudo apt install ros-humble-gazebo-*Install Cartographer
假如前一节未安装源码版本的cartographer#xff0c;那就安装apt版本…没有真实小车的情况下利用gazebo的仿真操作小乌龟来学习ros2。废话不多说直接上命令。
Install Gazebo
sudo apt install ros-humble-gazebo-*Install Cartographer
假如前一节未安装源码版本的cartographer那就安装apt版本的。
sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-rosInstall Navigation2
sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringupInstall TurBot3 Packages
source ~/.bashrc
sudo apt install ros-humble-dynamixel-sdk
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-turtlebot3
sudo apt install ros-humble-turtlebot3-gazeboInstall Teleop
sudo apt-get install ros-humble-teleop-twist-keyboard打开终端启动机器人gazebo
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py另开终端再启动cartographer启动节点
ros2 launch turtlebot3_cartographer cartographer.launch.py 另开终端启动键盘启动节点控制机器人
ros2 run teleop_twist_keyboard teleop_twist_keyboard另开终端结束构图停止接受新数据
ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory {trajectory_id: 0}序列化保存其当前状态
ros2 service call /write_state cartographer_ros_msgs/srv/WriteState {filename: /home/develop/bags/mymap.pbstream}将pbstream转化为pgm和yaml在cartographer_pbstream_to_ros_map目录下执行
cd /opt/ros/humble/lib/cartographer_ros
./cartographer_pbstream_to_ros_map -map_filestem${HOME}/bags/mymap -pbstream_filename${HOME}/bags/mymap.pbstream -resolution0.05
