ROS2-Navigation2-Turtlebot 3

系统ubuntu-22.04.4 ，ros2版本ros-humble-desktop

安装gazebo

安装gazebo
sudo apt install gazebo
 
安装ROS2的两轮差速功能包
sudo apt install ros-humble-gazebo-*
 
键盘控制工具
sudo apt install ros-humble-teleop-twist-keyboard
键盘控制工具启动
ros2 run teleop_twist_keyboard teleop_twist_keyboard

安装 Cartographer

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

安装 Navigation2

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

安装 TurtleBot3 

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-gazebo

环境配置

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
source ~/.bashrc

设置环境变量

source /opt/ros/humble/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

一劳永逸 配置TurtleBot3仿真环境：打开终端

sudo gedit .bashrc

在最后一行部分加入下面两段代码
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
保存退出
source .bashrc

 

在终端中输入以下ros2命令

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

注意：多等一会儿，等待了四五分钟之后Gazebo确实成功打开了，等待过程中最好不要进行其他影响此进程的操作。

RVIZ和Gazebo都将成功打开后，需要我们手动确定机器人当前位置，点击RVIZ页面上方的“2D Pose Estimate”，然后用鼠标光标确定大致位置即可。