movebase安装
时间: 2024-01-06 22:03:34 浏览: 48
要安装move_base包,你可以按照以下步骤进行操作:
1. 首先,确保你的操作系统是Ubuntu 18.04,并且已经安装了ROS Melodic版本。
2. 打开终端,输入以下命令来安装move_base及其相关的软件包:
```
sudo apt install ros-melodic-move-base ros-melodic-move-base-msgs ros-melodic-move-base-flex ros-melodic-move-base-to-manip
```
3. 接下来,安装导航相关的软件包:
```
sudo apt install ros-melodic-navigation ros-melodic-navigation-stage ros-melodic-navigation-experimental ros-melodic-navigation-tutorials ros-melodic-navigation-layers
```
4. 安装全局规划器:
```
sudo apt install ros-melodic-global-planner
```
5. 安装代价地图相关的软件包:
```
sudo apt install ros-melodic-costmap-cspace ros-melodic-costmap-2d ros-melodic-costmap-cspace-msgs ros-melodic-costmap-converter ros-melodic-costmap-queue
```
6. 安装局部规划器:
```
sudo apt-get install ros-melodic-dwa-local-planner
```
7. 安装Teb局部规划器的教程:
```
sudo apt-get install ros-melodic-teb-local-planner-tutorials
```
这样,你就完成了move_base包的安装。请注意,这些命令假设你已经正确设置了ROS环境变量,并且已经创建了一个工作空间。如果你还没有设置ROS环境变量或者没有创建工作空间,请先完成这些步骤。
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