3.搭建仿真环境

安装arbotix：

sudo apt-get install-indigo-arbotix mkdir -p ~/catkin/src cd ~/catkin/src catkin_init_workspace cd .. catkin_make cd src git clone https://github.com/pirobot/rbx1.git

运行

roscore //打开一个新终端 source ~/catkin_make/devel/setup.bash //如不想每次输入上面的命令，将它加到./bashrc roslaunch rbx1_bringup fake_pi_robot.launch //这时机器人已经在运行了 //打开一个新终端 source ~/catkin_make/devel/setup.bash rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz //这时可以通过rostopic pub命令让机器人动起来