Turtlebot3 ROS2 Dashing 运行使用

 

备注机器人类型

export TURTLEBOT3_MODEL=burger

　

机器人端

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

　　

 

ros2 launch turtlebot3_bringup robot.launch.py

 

ros2 topic list

  

ros2 service list

 

 

ros2 launch turtlebot3_bringup rviz2.launch.py

　　

 

 

ros2 run turtlebot3_teleop teleop_keyboard

 

SLAM

ros2 launch turtlebot3_bringup robot.launch.py

　　

ros2 launch turtlebot3_cartographer cartographer.launch.py

　　

ros2 run nav2_map_server map_saver -f ~/map