Turtlebot3 机器人 Gazebo 仿真与键盘控制实验

turtlebot3_gazebo_control/
├── launch/
│   ├── gazebo_simulation.launch  # 启动 Gazebo 空世界并加载机器人模型
│   └── main.launch               # 统一入口，启动仿真和键盘交互终端
├── scripts/
│   └── main.py                   # 键盘控制 Python 脚本
├── package.xml                   # ROS 包清单
├── CMakeLists.txt                # 构建文件
└── README.md                     # 运行说明文档

sudo apt install ros-noetic-turtlebot3 ros-noetic-turtlebot3-simulations ros-noetic-turtlebot3-teleop

export TURTLEBOT3_MODEL=waffle

<launch>
    <!-- 设置 Turtlebot3 模型为 waffle -->
    <arg name="model" default="waffle"/>

    <!-- 启动 Gazebo 空世界 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="gui" value="true"/>
    </include>

    <!-- 加载 Turtlebot3 的 URDF 模型到参数服务器 -->
    <param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <!-- 在 Gazebo 中生成 Turtlebot3 机器人 -->
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" 
          args="-urdf -model turtlebot3_$(arg model) -param robot_description" output="screen"/>
</launch>

roslaunch ./gazebo_simulation.launch

#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist

# 按键与速度映射表 (按键: [线速度系数, 角速度系数])
moveBindings = {
    'w': (1, 0), 'x': (-1, 0),
    'a': (0, 1), 'd': (0, -1),
    's': (0, 0), ' ': (0, 0)
}

if __name__ == "__main__":
    rospy.init_node('turtlebot3_control')
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
    speed, turn = 0.2, 1.0

    # 循环监听键盘并发布指令 (省略了部分底层终端设置代码)
    while not rospy.is_shutdown():
        key = getKey() # 获取按键的辅助函数
        if key in moveBindings.keys():
            x = moveBindings[key][0]
            th = moveBindings[key][1]
        else:
            x, th = 0, 0 # 默认停止

        twist = Twist()
        twist.linear.x = x * speed    # 线速度
        twist.angular.z = th * turn   # 角速度
        pub.publish(twist)