navigation_sim_demo

导航演示功能包，本演示包包含以下内容：

• amcl_demo: map_server+amcl 已知地图+自适应蒙特卡洛定位
• odometry_navigation_demo: 已知地图+仅用里程计（编码器）定位

amcl示例运行方法

首先运行gazebo仿真场景

roslaunch robot_sim_demo robot_spawn.launch

启动键盘控制程序

rosrun robot_sim_demo robot_keyboard_teleop.py

再运行定位程序AMCL

roslaunch navigation_sim_demo amcl_demo.launch

最后，启动rviz可视化工具

roslaunch navigation_sim_demo view_navigation.launch

然后用键盘控制小车运动，就能在rviz上看到机器人定位的过程

odometry navigation示例运行方法

roslaunch robot_sim_demo robot_spawn.launch
rosrun robot_sim_demo robot_keyboard_teleop.py
roslaunch navigation_sim_demo odometry_localization_demo.launch
roslaunch navigation_sim_demo view_navigation.launch

注意事项

如果gazebo出现错误，比如无法查看摄像头换面，你需要升级gazebo到gazebo7及以上版本:

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7