turtlebot 的gazebo地圖有點定位不對（忘了什麼原因），改用husky，步驟如下：
1、下載展開（husky github）、catkin_make編譯、source 路徑
2、啓動仿真
source ~/husky/devel/setup.bash
roslaunch husky_gazebo husky_playpen.launch
如果提示錯誤：
ERROR: cannot launch node of type [interactive_marker_twist_server/marker_server]: interactive_marker_twist_server
安裝：sudo apt-get install ros-kinetic-interactive-marker-twist-server
3、啓動gmapping
roslaunch husky_navigation gmapping_demo.launch
4、啓動rviz
roslaunch husky_viz view_robot.launch
5、啓動鍵盤控制
roslaunch turtlebot_teleop keyboard_teleop.launch
keyboard_teleop.launch 文件位置：
需要修改速度映射：
<remap from="turtlebot_teleop_keyboard/cmd_vel" to="husky_velocity_controller/cmd_vel"/>
速度不要太快,角速度0.1 線速度0.2左右
<launch>
<!-- turtlebot_teleop_key already has its own built in velocity smoother -->
<node pkg="turtlebot_teleop" type="turtlebot_teleop_key" name="turtlebot_teleop_keyboard" output="screen">
<param name="scale_linear" value="0.5" type="double"/>
<param name="scale_angular" value="1.5" type="double"/>
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="cmd_vel_mux/input/teleop"/-->
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="cmd_vel_mux/input/teleop"/-->
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="cmd_vel"/-->
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="/gammabot_velocity_controller/cmd_vel"/-->
<!--the following is the original code-->
<remap from="turtlebot_teleop_keyboard/cmd_vel" to="husky_velocity_controller/cmd_vel"/>
<!--the following control the kobuki mubile_base-->
<!--turtlebot 仿真速度指令話題映射-->
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="/mobile_base/commands/velocity"/-->
<!--remap from="turtlebot_teleop_keyboard/cmd_vel" to="/four_wheel_steering_controller/cmd_vel"/-->
</node>
</launch>
6、Xbox搖桿控制
roslaunch turtlebot_teleop xbox360_teleop.launch
(1)<remap from="turtlebot_teleop_joystick/cmd_vel" to="husky_velocity_controller/cmd_vel"/>
(2)操控時注意必須按下LB鍵 jstest-gtk測試 4 號button , 由axis_deadman" value="4" 指定
（3）錯誤Couldn't open joystick force feedback! 可以忽略
以下爲turtlebot gazebo仿真
從https://github.com/turtlebot/turtlebot_simulator下載，解壓將 turtlebot_gazebo 目錄複製到catkin_ws/src下，然編譯
2、修改playground.world文件
gazebo playground.world
啓動turtlebot仿真，roslaunch turtlebot_gazebo turtlebot_world.launch
出現錯誤
[ INFO] [1575341572.758603545]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
[gazebo-2] process has died [pid 11321, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode ~/catkin_ws/src/turtlebot_gazebo/worlds/playground.world __name:=gazebo __log:=/home/sdia/.ros/log/fe609966-1577-11ea-9534-6014b3c8843b/gazebo-2.log].
log file: /home/sdia/.ros/log/fe609966-1577-11ea-9534-6014b3c8843b/gazebo-2*.log
原因
<arg name="world_file" default="/home/sdia/catkin_ws/src/turtlebot_gazebo/worlds/playground.world"/>
路徑設置不對
使用環境文件是playgroud
該文件保存在系統變量$TURTLEBOT_GAZEBO_WORLD_FILE中。
-
啓動鍵盤控制
roslaunch turtlebot_teleop keyboard_teleop.launch
需要修改速度映射：
<remap from="turtlebot_teleop_keyboard/cmd_vel" to="/mobile_base/commands/velocity"/>
