前期準備工作，創工作空間 共享無線 最重要的是地圖。
Remote PC
master是整個ROS運行的核心，它主要的功能就是登記註冊節點、服務和話題的名稱，並維護一個參數服務器。
- cd catkin_ws
- source devel/setup.bash
- roscore
TurtleBot
啓動turtlebot3仿真模型， 真實傳感器，串口通信等。
- ssh [email protected]
- cd catkin_ws/
- source devel/setup.bash
- roslaunch turtlebot3_bringup turtlebot3_robot.launch
Remote PC
- source devel/setup.bash
- export TURTLEBOT3_MODEL=burger
- roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Remote PC
- source devel/setup.bash
- export TURTLEBOT3_MODEL=burger
- roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
Remote PC
- source devel/setup.bash
- export TURTLEBOT3_MODEL=burger
- roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
turtlebot3_robot.launch
turtlebot3_core.launch
啓動機器人串口通信
turtlebot3_lidar.launch
啓動雷達 並且設置雷達數據的座標系是"base_scan"
turtlebot3_slam.launch
有了一個新的發現就是slam方法可以用RTAB-Map替換！
turtlebot3_remote.launch
robot state publisher
感覺是在做turtlebot3和slam之間之間連接的工作， 是在啓動turtlebot3的軟件就是仿真和硬件就是串口之間的通信。
turtlebot3_gmapping.launch
設置數據的座標系，
turtlebot3_navigation.launch
設置一些參數，啓動turtlebot3，載入地圖，啓動amcl，啓動move_base
amcl.launch
move_base.launch
file="KaTeX parse error: Expected group after '_' at position 57: …p_common_params_̲(arg model).yaml" command=“load” ns="global_costmap"
file="KaTeX parse error: Expected group after '_' at position 57: …p_common_params_̲(arg model).yaml" command=“load” ns="local_costmap"
file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load"
file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load"
file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load"
file="KaTeX parse error: Expected group after '_' at position 60: …_planner_params_̲(arg model).yaml" command="load"
rosrun rqt_tf_tree rqt_tf_tree
rosrun rqt_graph rqt_graph
