準備工作： 在Ubuntu16.04 ROS kinetic上安裝turtlebot3
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
$ cd ~/ros_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/ros_ws
$ catkin_make
在roboware中打開.bashrc
追加
export TURTLEBOT3_MODEL=burger
打開world
roslaunch turtlebot3_gazebo turtlebot3_world.launch
建圖
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
保存地圖
rosrun map_server map_saver -f ~/map
導航
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
