安装环境
Ubuntu16.04
ROS -kinetic
turtlebot安装
$ sudo apt-get install ros-kinetic-turtlebot*
启动仿真环境
$ roslaunch turtlebot_gazebo turtlebot_world.launch
错误
错误：*Invalid tag: environment variable ‘TURTLEBOT_GAZEBO_WORLD_FILE’ is not set. Arg xml is arg default=”$(env TURTLEBOT_GAZEBO_WORLD_FILE)” name=”world_file”The traceback for the exception was written to the log file.
解决方法：重新配置环境
(1)初始化rosdep
$ sudo rosdep init
$ rosdep update
(2)环境设置
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
成功之后的界面：
gazebo
键盘控制
打开一个新终端：
$ roslaunch turtlebot_teleop keyboard_teleop.launch
键盘控制
注意：只能在终端界面用键盘控制turtlebot移动，无法在Gazebo界面控制.
运行rviz
打开一个新终端：
$ roslaunch turtlebot_rviz_launchers view_robot.launch
rviz
