TurtleBot3入门教程-11.Gazebo仿真

代码下载

cd catkin_ws/src

git clone -b kinetic-devel https://gitee.com/kay2020/turtlebot3_simulations.git

编译

catkin_make

export TURTLEBOT3_MODEL=waffle_pi

roslaunch turtlebot3_gazebo turtlebot3_world.launch

roslaunch turtlebot3_slam turtlebot3_slam.launch

控制小车移动实现建图

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

效果如图：

保存地图：

rosrun map_server map_saver -f ~/map_world

地图自动保存在~/home/map目录下，名为map_world.yaml和map_world.pgm