The three omni_wheel robot simulated in gazebo.
- Ubuntu 16.04
- ros kinetic
- gazebo7
sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-slam-gmapping
sudo apt-get install ros-kinetic-openslam-gmapping
sudo apt-get install ros-kinetic-teleop-twist-keyboard
roslaunch omni_gazebo omni_world.launch
If you can't open the gazebo,you can see this blog: https://blog.csdn.net/qq_37427972/article/details/82853655
And don't forget to install the graphics driver.
You can teleop the robot by using this command:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch omni_slam omni_gmapping.launch
If you find there has some obstacles in RVIZ,you can uncheck the Odometry option to hide them. Next,you can teleop the robot to circle the map.And the command of saving the map is:
rosrun map_server map_saver -f map
In this project,I prepare three open source projects:mrobot,turtlebot3 and husky.I create the navigation bag on the basis of this.
- mrobot:
roslaunch omni_navigation navigation_mrobot.launch
roslaunch omni_navigation move_base_mrobot.launch
- turtlebot3:
roslaunch omni_navigation navigation_turtlebot3.launch
roslaunch omni_navigation move_base_turtlebot3.launch
- husky:
roslaunch omni_navigation navigation_husky.launch
roslaunch omni_navigation move_base_husky.launch
Finally,if you want to learn more things,please see:https://blog.csdn.net/mengxiang2425
And I learn ros by 《ros机器人程序设计》（第二版） and this github:https://github.com/rosbook/effective_robotics_programming_with_ros
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