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基于TurtleBot3在Gazebo地图实现机器人远程控制

ops 2025/6/23 16:21:27

1. TurtleBot3环境配置

# 下载TurtleBot3核心包
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git# 构建环境
cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
# 设置默认机型（burger/waffle/waffle_pi）
echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
source ~/.bashrc

在这里插入图片描述

waffle_pi
waffle
burger

2. 启动Gazebo仿真

# 使用空白环境仅加载机器人
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
# 使用默认预置环境
roslaunch turtlebot3_gazebo turtlebot3_world.launch 
# 房屋环境（首次需下载200M模型）
roslaunch turtlebot3_gazebo turtlebot3_house.launch

空白环境
默认预置环
房屋环境

3. 控制

# 先加载环境及Turtlebot
roslaunch turtlebot3_gazebo turtlebot3_house.launch # 再启动新终端
# 使用WASD控制移动，空格急停
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
# 启动自主避障节点
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

在这里插入图片描述