目录
Preparation
Turtlebot Installation
Assumes ROS has been installed on your computer.
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgsSimulation
TurtleBot in Stage Simulator
roslaunch turtlebot_stage turtlebot_in_stage.launchCustomizing the Stage Simulator
Setup
The following files in the turtlebot_stage folder are all the preset launch and configuration files:
launch/turtlebot_in_stage.launch # launch文件 maps/maze.png # 定义地图基本形状 maps/maze.yaml # 定义地图参数 maps/stage/maze.world # 定义可移动物体的位置 maps/stage/turtlebot.inc # 定义turtlebot模型（一般不用改） rviz/robot_navigation.rviz # rviz参数 （一般不用改）
Modifiying a map
Change args in launch/turtlebot_in_stage.launch.
- Method #1:
roslaunch turtlebot_stage turtlebot_in_stage.launch map_file:="%FULL_PATH_TO_YOUR_CUSTOMED_YAML_FILE%" world_file:="%FULL_PATH_TO_YOUR_CUSTOMED_WORLD_FILE%"- Method #2
export TURTLEBOT_STAGE_MAP_FILE=~/stageTutorial/tutorial.yaml
export TURTLEBOT_STAGE_WORLD_FILE=~/stageTutorial/tutorial.world
roslaunch turtlebot_stage turtlebot_in_stage.launchModifiying robot position
Change args in launch/turtlebot_in_stage.launch.
Related args:
- initial_pose_x
- initial_pose_y
- initial_pose_a
Adding Objects and Includes
To add moveable objects which can represent dynamic obstacles we can define a new block in a seperated file we call “myBlock.inc”:
define block model ( size [0.500 0.500 1.500] gui_nose 0 )
Append to your “world” file.
...
include "myBlock.inc"
#adding blocks
block( pose [ 2.000 4.000 0.000 0.000 ] color "green")
block( pose [ 4.000 4.000 0.000 0.000 ] color "red")
...Gazebo Bringup Guide
roslaunch turtlebot_gazebo turtlebot_world.launchExplore the Gazebo world
Make the TurtleBot move
roslaunch turtlebot_teleop keyboard_teleop.launchSee what the robot sees
roslaunch turtlebot_rviz_launchers view_robot.launchMake a map and navigate with it
Make a map
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
rosrun map_server map_saver -f <your map name>Navigate the playground
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map YAML file>