Turtlebot3

前置准备

运行相关命令前需先安装对应功能包，如turtlebot3、slam_toolbox、cartographer、nav2等。
若从源码编译安装，请确保已编译对应功能包。编译命令如下：

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cd ~/colcon_ws
colcon build --symlink-install --packages-select <package_name>

source命令如下，可添加至~/.bashrc文件中：

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source ~/colcon_ws/install/setup.bash
source /usr/share/gazebo/setup.sh

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ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

slam_toolbox 运行在线 SLAM ：

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ros2 launch slam_toolbox online_sync_launch.py

cartographer建图：

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ros2 launch turtlebot3_cartographer cartographer.launch.py

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ros2 run rviz2 rviz2

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ros2 run turtlebot3_teleop teleop_keyboard

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ros2 run nav2_map_server map_saver_cli -f ~/map

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ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml