「ROS烏龜人 #11」透過 turtlebot_gazebo 試著了解 gmapping 、 amcl 、 move_base 筆記

主站：http://wiki.ros.org/Robots/TurtleBot 
amcl: http://wiki.ros.org/amcl?distro=indigo
move_base: http://wiki.ros.org/move_base?distro=indigo
map_server: http://wiki.ros.org/map_server
tutorial: http://wiki.ros.org/turtlebot_gazebo

Big picture：
gmapping是同時建圖 & 定位機器人，並且可以存圖
amcl是當已經有地圖，定位機器人用，通常用在沒有跑slam時
move_base是當已經有地圖、已經定位，進行導航用，給地圖、機器人位置、目標點

6-0 環境下載(gazebo_turtlebot)
$ sudo apt-get install ros-indigo-turtlebot-gazebo
打開環境gazebo & turtlebot
$ roslaunch turtlebot_gazebo turtlebot_world.launch
//如果不行就重開terminal

6-1 Gazebo Bringup Guide
http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Gazebo%20Bringup%20Guide

6-2 Explore the Gazebo world
http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Explore%20the%20Gazebo%20world
透過鍵盤控制turtlebot在gazebo中的移動
$ roslaunch turtlebot_teleop keyboard_teleop.launch
在rviz中查看turtlebot
$ roslaunch turtlebot_rviz_launchers view_robot.launch

6-3 Make a map and navigate with it
http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Make%20a%20map%20and%20navigate%20with%20it
map building (by gmapping
$ roslaunch turtlebot_gazebo gmapping_demo.launch
在rviz中查看turtlebot的mapping過程
$ roslaunch turtlebot_rviz_launchers view_navigation.launch
save map to disk
$ rosrun map_server map_saver -f <your map name>.yaml
檢視我們存好的的地圖
$ eog <your map name>.pgm

navigate the background (by amcl
$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map YAML file>