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45 lines
1.1 KiB
Markdown
45 lines
1.1 KiB
Markdown
The scout robot simulated in gazebo.
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System environment:
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Ubuntu 16.04
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ros kinetic
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gazebo7
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Required configuration environment:
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sudo apt-get install ros-kinetic-navigation
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sudo apt-get install ros-kinetic-slam-gmapping
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sudo apt-get install ros-kinetic-openslam-gmapping
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sudo apt-get install ros-kinetic-teleop-twist-keyboard
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sudo apt-get install ros-kinetic-teb-local-planner
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Start the robot world:
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roslaunch scout_robot scout_world.launch
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If you can't open the gazebo,you can see this blog:
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https://blog.csdn.net/qq_37427972/article/details/82853655
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And don't forget to install the graphics driver.
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We can teleop the robot by using this command:
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rosrun teleop_twist_keyboard teleop_twist_keyboard.py
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Start the gmapping:
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roslaunch scout_robot gmapping.launch
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After finishing to build the map,we can save the map data by using this:
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rosrun map_server map_saver -f map
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Start the navigation:
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roslaunch scout_robot navigation.launch
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Then,we can let the robot to the navigation goal by using the 2D Pose Estimate in RVIZ.
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The moredetails in teb_local_planner,you can see this website:
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http://wiki.ros.org/teb_local_planner/Tutorials
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