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