三、Gazebo中实现机器人仿真（小白上手）+ubuntu18.04
接上一篇文章
1、\导航
vim .bashrc
\先采用Nanocar尝试导航
关闭终端：roslaunch robot_navigation gmapping.launch simulation:=true
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
重启终端：
cd catkin_ws
source ./devel/setup.bash
roslaunch bingda_tutorials simulation_robot.launch
新标签页:
source ./devel/setup.bash
roslaunch robot_navigation navigation_stack.launch simulation:=true
新标签页:
source ./devel/setup.bash
roslaunch robot_navigation navigation_rviz.launch
\导航中出现碰撞解决：
\解决办法：机器人实际参数和导航时给定参数存在差异，在文件夹catkin_ws/src/robot_navigation/param/NanoCar中打开以下文：下costmap_common_params.yaml修改参数：机器人尺寸的参数或者地图的碰撞参数加大。
2、\从Solidworks中创建URDF模型
在windows下下载，下篇文章讲解