ros1-编译并启动仿真环境

1.安装noetic依赖

cd ~

mkdir catkin_ws

cd catkin_ws

mkdir src

下载此项目 https://github.com/6-robot/wpr_simulation 放入src目录

cd wpr_simulation

cd scripts

chmod +x  ./install_for_noetic.sh

 ./install_for_noetic.sh

cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/waterplus_map_tools/scripts
./install_for_noetic.sh

2.编译Ros工作空间

cd ~/catkin_src

catkin_make

source ~/catkin_ws/devel/setup.bash

 

3.启动仿真器

roslaunch wpr_simulation wpb_simple.launch

 

4.安装并启动控制节点

sudo apt install ros-noetic-rgt-robot-steering

roscore    #启动ros核心

rosrun rqt_robot_steering rqt_robot_steering   #启动控制节点

 

向上拖动控制滑杆控制小车前进速度,可以看到仿真器里的机器人向前运动了,点击 0  可以停止移动

 

 启动rviz

rosrun rviz rviz