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Author: Shawn
Email: zhanggx0102@163.com
Updata: 20180917
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1. Run following command to simulate gmapping in gazebo
$ roslaunch rover_navigation gazebo_gmapping_robot.launch
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
tips:
<1> modify <dynamics damping="0.1" friction="0.5"/> in xacro file to get a better simulated effect.
<2> <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so"> parameters
<torque>1</torque> also influence the simulated effect.
2. Run following command to simulate navigation(AMCL) in gazebo
$ roslaunch rover_navigation configuration_gazebo.launch
$ roslaunch rover_navigation move_base.launch