教程地址：https://blog.csdn.net/qq_45153670/category_11762617.html
Show:
in RVIZ:
roslaunch zzx_run_description display_xacro.launch
in GAZEBO:
roslaunch zzx_run_description gazebo.launch
arbotix+rviz:
roslaunch zzx_run_description arbotix.launch
roslaunch zzx_run_teleop zzx_run_robot_teleop.launch
Mapping:
with Gmapping:
roslaunch zzx_run_gazebo zzx_run_gazebo.launch
roslaunch zzx_run_navigation gmapping_slam.launch
roslaunch zzx_run_teleop zzx_run_robot_teleop.launch
rosrun map_server map_saver -f ${map_name}
with hector:
roslaunch zzx_run_gazebo zzx_run_gazebo.launch
roslaunch zzx_run_navigation hector_slam.launch
roslaunch zzx_run_teleop zzx_run_robot_teleop.launch
rosrun map_server map_saver -f ${map_name}
explore with gmapping:
roslaunch zzx_run_gazebo zzx_run_gazebo.launch
roslaunch zzx_run_navigation exploring_gmapping_slam.launch
rosrun zzx_run_navigation exploring_slam.py
rosrun map_server map_saver -f ${map_name}
Navigation:
arbotix+rviz:
roslaunch zzx_run_bringup fake_zzx_run_robot.launch
roslaunch zzx_run_navigation fake_navigation.launch
arbotix+rviz+random:
roslaunch zzx_run_bringup fake_zzx_run_robot.launch
roslaunch zzx_run_navigation fake_navigation.launch
rosrun zzx_run_navigation random_navigation.py
ros_control+gazebo:
roslaunch zzx_run_gazebo zzx_run_gazebo.launch
roslaunch zzx_run_navigation real_navigation.launch
ros_control+gazebo+random:
roslaunch zzx_run_gazebo zzx_run_gazebo.launch
roslaunch zzx_run_navigation real_navigation.launch
rosrun zzx_run_navigation random_navigation.py