# ailibot_sim

**Repository Path**: ncnynl/ailibot_sim

## Basic Information

- **Project Name**: ailibot_sim
- **Description**: ailibot仿真程序与ailibot仿真入门教程对应
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2023-08-17
- **Last Updated**: 2023-09-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ailibot_sim

ailibot_sim ailibot ros1版本仿真包

#article

目录

https://www.ncnynl.com/category/ailibot-sim/

Ailibot仿真入门教程-目录
Ailibot仿真入门教程-环境配置
Ailibot仿真入门教程-gazebo-设计简单的gazebo场景
Ailibot仿真入门教程-gazebo-用插件将场景自动生成地图
Ailibot仿真入门教程-gazebo-加载gazebo场景
Ailibot仿真入门教程-建图-gmapping建图
Ailibot仿真入门教程-导航-定点导航
Ailibot仿真入门教程-建图-karto建图
Ailibot仿真入门教程-建图-hector建图
Ailibot仿真入门教程-建图-cartographer建图
Ailibot仿真入门教程-建图-cartographer pure localization 自定位
Ailibot仿真入门教程-导航-多点连续导航

#快捷安装（推荐）

#1.安装RCM工具/ROS1/2命令管理器
```
curl -k https://www.ncnynl.com/rcm.sh | bash -
```

#2.执行安装命令，部署脚本，也包含安装其他依赖包
```
rcm ros1_ailibot install_ros1_ailibot_sim
```


# 启动rviz和gazebo都使用URDF模型的仿真

```
roslaunch ailibot_gazebo test_world.launch
```

# 启动建图

```
# 启动gampping建图
roslaunch ailibot_slam gmapping.launch

# 启动karto建图
roslaunch ailibot_slam karto.launch

# 启动hector建图
roslaunch ailibot_slam hector.launch

# 运行不使用imu数据的cartographer建图程序
roslaunch ailibot_slam cartographer_without_imu.launch

# 或者运行使用imu数据的cartographer建图程序
roslaunch ailibot_slam cartographer.launch


```

# 启动rviz 

```
# 启动建图的rviz
roslaunch ailibot_rviz view_slam.launch --screen 

# 启动导航的rviz
roslaunch ailibot_rviz view_navigate.launch

# 多点导航的rviz
roslaunch ailibot_rviz view_navigate_with_multi_goal.launch
```

# 启动键盘控制

```
roslaunch ailibot_teleop keyboard.launch
```

# 保存地图

```
# 一般保存地图方法
mkdir ~/map && cd ~/map 
roslaunch ailibot_tools map_saver.launch map_file:=$HOME/map/map

# cartographer保存pbstream地图方法
rosservice call /finish_trajectory 0
# 若根目录下没有map文件夹，则需要重新创建map文件夹
mkdir ~/map && cd ~/map 
rosservice call /write_state "{filename: '${HOME}/map/cartographer-localization.pbstream'}"
```

# 运行导航

```
# 一般导航
roslaunch ailibot_nav navigate.launch map_file:=$HOME/map/map.yaml
#可选参数
map_file:=$HOME/map/map.yaml   #指定地图

# 自定位导航
# 运行cartographer_localization程序
roslaunch ailibot_slam cartographer_localization.launch load_state_filename:=${HOME}/map/cartographer-localization.pbstream
#可选参数
load_state_filename:=${HOME}/map/cartographer-localization.pbstream #指定地图

# 多点导航
rosrun ailibot_nav show_mark

```