ROS机器人024-ROS机器人自主SLAM Rviz Gazebo实现

新建launch文件
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_gazebo/launch$
roslaunch mbot_gazebo nav_gmapping_view_mbot_gazebolaserandcamera_room.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find mbot_gazebo)/worlds/cloister.world"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_2laserandcamera_gazebo.xacro'" />

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mbot -param robot_description"/>
    <include file="$(find mbot_navigation)/launch/gmapping.launch"/>

    <!-- 运行move_base节点 -->
    <include file="$(find mbot_navigation)/launch/move_base.launch" />

    <!-- 运行rviz -->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/nav.rviz"/>
</launch>
~          

新建机器人模型文件:
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_description/urdf/xacro/gazebo$
**mbot_with_2laserandcamera_gazebo.xacro **

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_2base_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" />

    <xacro:property name="lidar_offset_x" value="0" />
    <xacro:property name="lidar_offset_y" value="0" />
    <xacro:property name="lidar_offset_z" value="0.20" />
 
    <xacro:property name="camera_offset_x" value="0.17" />
    <xacro:property name="camera_offset_y" value="0" />
    <xacro:property name="camera_offset_z" value="0.0775" />

    <!-- lidar -->
    <joint name="lidar_joint" type="fixed">
        <origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
        <parent link="head"/>
        <child link="laser_link"/>
    </joint>

    <xacro:rplidar prefix="laser"/>

    <gazebo reference="laser_link">
            <material>Gazebo/Black</material>
    </gazebo>
    <!-- Camera -->
    <joint name="camera_joint" type="fixed">
        <origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
        <parent link="base_link"/>
        <child link="camera_link"/>
    </joint>

    <xacro:usb_camera prefix="camera"/>

    <gazebo reference="camera_link">
            <material>Gazebo/Green</material>
    </gazebo>
    <mbot_base_gazebo/>
</robot>

新建机器人基础模型文件
nvidia@tegra-ubuntu:~/catkin_ws/src/mbot_description/urdf/xacro/gazebo$
mbot_2base_gazebo.xacro

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- PROPERTY LIST -->
    <xacro:property name="M_PI" value="3.1415926"/>
    <xacro:property name="base_mass"   value="20" /> 
    <xacro:property name="base_radius" value="0.20"/>
    <xacro:property name="base_length" value="0.16"/>
    
    <xacro:property name