gzserver
gzclient
unset LIBGL_ALWAYS_SOFTWARE
gazebo
export LIBGL_ALWAYS_SOFTWARE=1
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一、sudo apt-get install ros-indigo-gazebo-ros ros-indigo-gazebo-rospkgs ros-indigo-gazebo-msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-ros-control
二、roslaunch gazebo_ros empty_world.launch
三、sudo apt-get install ros-indigo-kobuki-*
四、cd ~/catkin_ws/src
sudo apt-get install ros-indigo-grasping-msgs ros-indigo-moveit-python
git clone https://github.com/pirobot/ubr1_preview
cd ~/catkin_ws
catkin_make
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roslaunch kobuki_gazebo kobuki_playground.launch
rostopic list
rostopic pub -r 10 /mobile_base/commands/velocity geometry_msgs/Twist '{linear: {x: 0.2}}'
rostopic echo /mobile_base/events/cliff
rostopic pub -r 10 /mobile_base/commands/velocity geometry_msgs/Twist '{linear: {x: 0.1}}'
rosmsg show -r kobuki_msgs/CliffEvent
rostopic echo /mobile_base/events/bumper
rostopic pub -r 10 /mobile_base/commands/velocity geometry_msgs/Twist '{linear: {x: 0.2}}'
rosmsg show -r kobuki_msgs/BumperEvent
arbotix_gui
roslaunch rbx2_gazebo kobuki_yocs_safety_controller.launch
roslaunch rbx2_nav mux_joystick_teleop.launch
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Running the nav_square.py script from Volume 1
roslaunch kobuki_gazebo kobuki_playground.launch
一、roslaunch rbx2_gazebo kobuki_yocs_safety_controller.launch
二、
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