在ROS中学习SLAM及NAVIGATION时遇到以下问题:
[ERROR] [1552999261.807795886, 0.001000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set to true.
解决办法:如图所示,在Drive controller中添加代码<legacyMode>false</legacyMode>
本书使用的代码来自ROS机器人高效编程(第三版),其中第五章与第六章中有些代码有问题,可参考修改代码。
https://blog.csdn.net/x_r_su/article/details/53504784
https://blog.csdn.net/x_r_su/article/details/53504261
有的ROS在安装过程中没有装Navigation包,里面的move-base,acml算法,map-server自然就不能调用,可以用sudo apt get install ros-kinetic-navigation
进行安装。
安装成功后运行:`
roslaunch chapter6_tutorials chapter6_configuration_gazebo.launch
roslaunch chapter6_tutorials move_base.launch
即可开始进行导航,界面如图所示: