Gazebo仿真运行

一、快速上手教程

1.下载编译

git clone --recursive https://github.com/fishros/fishbot.git -b humble
cd fishbot
colcon build

2.运行测试

 在RVIZ中显示机器人模型

source install/setup.bash
ros2 launch fishbot_description display_rviz2.launch.py

3.仿真

source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py

4.建图

source install/setup.bash
ros2 launch fishbot_cartographer cartographer.launch.py

5.Nav2

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:=True

 二、错误分析：

1. 没有进入工作空间

解决办法：

 2.没有设置路径

 解决办法通上。