3.搭建仿真环境

安装arbotix：

sudo apt-get install-indigo-arbotixmkdir -p ~/catkin/srccd ~/catkin/srccatkin_init_workspacecd ..catkin_makecd srcgit clone https://github.com/pirobot/rbx1.git  

运行

roscore//打开一个新终端source ~/catkin_make/devel/setup.bash//如不想每次输入上面的命令，将它加到./bashrcroslaunch rbx1_bringup fake_pi_robot.launch //这时机器人已经在运行了//打开一个新终端source ~/catkin_make/devel/setup.bashrosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz//这时可以通过rostopic pub命令让机器人动起来