參考

https://blog.csdn.net/u010925447/article/details/78163556

關鍵步驟總結
一、nav模擬

//啟動模擬
roscore
//1. 執行fake_turtlebot節點：
$ roslaunch rbx1_bringup fake_turtlebot.launch
//2.執行蒙特卡洛粒子濾波演算法節點，同時載入地圖：
roslaunch rbx1_nav fake_amcl.launch map:=test_map.yaml
//3. 執行rviz模擬器
$ rosrun rviz rviz -d `rospack find rbx1_nav`/nav_test.rviz
 

二、用move_base導航走正方形

//1.啟動模擬
roscore
//2.啟動turtlebot
roslaunch rbx1_bringup fake_turtlebot.launch
//3.啟動地圖及一系列node
roslaunch rbx1_nav fake_move_base_blank_map.launch
//4.rviz配置視覺化
rosrun rviz rviz -d `rospack find rbx1_nav`/nav.rviz
//5.執行走正方形指令碼
rosrun rbx1_nav move_base_square.py

三、避開模擬障礙物`

//1.啟動模擬
roscore
//2.啟動turtlebot
roslaunch rbx1_bringup fake_turtlebot.launch
rosparam delete /move_base //該命令不執行也可以
//3.啟動地圖及一系列node
roslaunch rbx1_nav fake_move_base_map_with_obstacles.launch
//4.rviz配置視覺化
rosrun rviz rviz -d `rospack find rbx1_nav`/nav_obstacles.rviz
//5.執行走正方形指令碼
rosrun rbx1_nav move_base_square.py
``