# ros_navigation

**Repository Path**: alen2020/ros_navigation

## Basic Information

- **Project Name**: ros_navigation
- **Description**: ros建图与导航包集成。
建图算法：gmapping
定位算法：amcl
导航算法：move_base


- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 5
- **Forks**: 5
- **Created**: 2020-08-30
- **Last Updated**: 2025-04-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### 1.安装ros环境

```bash
$apt install ros-kinetic-desktop-full
```

### 2.创建工作空间

```bash
$mkdir ~/catkin_ws
$mkdir ~/catkin_ws/src
$cd ~/catkin_ws/src
$source /opt/ros/kinetic/bash.zsh
$catkin_init_workspace
$cd ..
$catkin_make
```

### 3.下载功能包并编译

```bash
$cd ~/catkin_ws/src
$git clone $https://gitee.com/alen2020/ros_navigation.git
$cp -r ros_navigation/* .
$cd ~/catkin_ws/
$catkin_make
```

### 4.建图与导航

以下两个launch文件分别打开gazebo仿真环境和建图、定位节点。

gazebo仿真地形我已经建立好，你们可以使用gazebo打开并修改地图。

第二个launch文件将同时启动gmapping与move_base，并打开rviz，可以通过rviz上的导航标发送导航指令，完成构图

```bash
$cd ~/catkin_ws/src 
$source devel/setup.zsh
$roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
$roslaunch mbot_navigation exploring_slam_demo.launch
```