ROS-Rviz-turtlebot3仿真信息查看

前言：Rviz是ROS自带的一种3D可视化工具。

一、安装turtlebot3功能包

1.1 安装依赖包

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

1.2 安装功能包

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

二、仿真并查看

2.1 加载三维模型

cd /home/cdq/catkin_ws/src/turtlebot3_simulations/turtlebot3_fake/launch

export TURTLEBOT3_MODEL=burgerroslaunch turtlebot3_fake.launch

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解析：

第二条是设置环境变量。

第三条运行了tur tlebot3_fake_node节点（三维模型）和robot_state_publisher节点（发布车轮信息）。

显示如下：

2.2 开启控制命令

启用命令后可以用wasd控制方向。

cd ~/catkin_ws/src/turtlebot3/turtlebot3_teleop/launch
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop_key.launch

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命令解析：

显示如下：

2.3 添加里程计信息

ADD->By Topic->Odometry

初始箭头很大，按图调整一下：

ADD->TF

通过rqt_tf_tree查看tf话题

rosrun rqt_tf_tree rqt_tf_tree 

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显示如下：

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