ros_navigation案列操作流程

1. 启动仿真

source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch # 启动仿真

2. 开始建图

source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_slam.launch slam_methods:=gmapping

3. 启动按键

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

走一圈关闭键盘

mkdir -p ~/Desktop/map
rosrun map_server map_saver -f ~/Desktop/map

讲地图数据写入map.pgm和map.yaml

4. 建好图后开始导航

4.1 启动仿真

source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

4.2 加载地图

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/penuel/map/map.yaml