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I want to simulate many behaviors of wheeled mobile robot such as mapping or navigation.I have found that ROS have package like navigation and gmapping,how can I run this package in simulation environment?
thanks!
Your simulated robot needs odometry and laser data to create maps. Odometry typically comes from your gazebo controller plugin. I used a controller from the hector_gazebo_plugins package (see http://wiki.ros.org/hector_gazebo_plu... ). To generate simulated laser scan data you can use e.g. the Hokuyo plugin (see http://gazebosim.org/tutorials?tut=ro... ).
If you do not have a simulated robot yet, you might want to start with an already existing robot model for Gazebo, like the TurtleBot simulator ( http://wiki.ros.org/turtlebot_simulator ). There are also tutorials around for using gmapping or amcl on the TurtleBot (see http://wiki.ros.org/turtlebot_navigation ). These tutorials should also work on a simulated TurtleBot.
Good luck!
thanks,I did it,that looks so cool.But now I want to Setup and Configuration of the Navigation Stack on a Robot(link text)，I want to run navigation stack on turtlebot.is there any ways?What should I do to? thank you !
I am glad to hear, that you got your simulation and gmapping up and running. The Gaitech EDU tutorials might help you to learn more about using the navigation stack on a TurtleBot: http://edu.gaitech.hk/turtlebot/map-n...
recently, I simulate my mobile robot in stage and i am using navigation_stage package , this is my github link text and it is based on navigation_stage and something changed by me
Asked: 2017-09-12 21:35:20 -0600
Seen: 1,317 times
Last updated: Jan 09 '18
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