/redcar_ws

Primary LanguageC++

ROS1仿真

环境

ubuntu 18.04 + ROS Melodic

配置

Step 1：

sudo apt install ros-melodic-robot-state-publisher
sudo apt install ros-melodic-joint-state-publisher
sudo apt install ros-melodic-rviz-imu-plugin
sudo apt install ros-melodic-map-server
sudo apt install ros-melodic-gmapping

Step 2：

sudo gedit /usr/lib/python2.7/xml/etree/ElementTree.py
sudo gedit /opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py
# 打开上面两个文件，添加下列代码
import sys
reload(sys)
sys.setdefaultencoding( "utf-8" )

Step 3：

redcar_ws/src/redcar_sim/redcar_gazebo/map/map.yaml
# 这个文件第一行路径更改成你自己的名字

运行

roslaunch redcar_gazebo redcar_gmapping_nav.launch

还有其他功能，此处不一一举例