接上文我们继续
如果我们要在仿真环境中进行测试，需要将摄像头配置成功。
一、配置位置
sudo vim /opt/ros/foxy/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf二、修改
<joint name="camera_rgb_optical_joint" type="fixed">
<parent>camera_rgb_frame</parent>
<child>camera_rgb_optical_frame</child>
<pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
重命名 <link name="camera_rgb_frame"> 为 <link name="camera_rgb_optical_frame">
增加 <link name="camera_rgb_frame"/>
修改 <sensor name="camera" type="camera"> 为 <sensor name="camera" type="depth">
修改 image width/height from 1920x1080 to 640x480
修改 min scan range from 0.12 to 0.2可以在vim里面使用
例如：
：/min
进行查找如果不想动手，可以直接粘贴我的：
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="turtlebot3_waffle">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<link name="base_footprint"/>
<link name="base_link">
<inertial>
<pose>-0.064 0 0.048 0 0 0</pose>
<inertia>
<ixx>4.2111447e-02</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.2111447e-02</iyy>
<iyz>0</iyz>
<izz>7.5254874e-02</izz>
</inertia>
<mass>1.3729096e+00</mass>
</inertial>
<collision name="base_collision">
<pose>-0.064 0 0.048 0 0 0</pose>
<geometry>
<box>
<size>0.265 0.265 0.089</size>
</box>
</geometry>
</collision>
<visual name="base_visual">
<pose>-0.064 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="imu_link">
<sensor name="tb3_imu" type="imu">
<always_on>true</always_on>
<update_rate>200</update_rate>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
</noise>
</z>
</linear_acceleration>
</imu>
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
<remapping>~/out:=imu</remapping>
</ros>
</plugin>
</sensor>
</link>
<link name="base_scan">
<inertial>
<pose>-0.052 0 0.111 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.114</mass>
</inertial>
<collision name="lidar_sensor_collision">
<pose>-0.052 0 0.111 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.0508</radius>
<length>0.055</length>
</cylinder>
</geometry>
</collision>
<visual name="lidar_sensor_visual">
<pose>-0.064 0 0.121 0 0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
<sensor name="hls_lfcd_lds" type="ray">
<always_on>true</always_on>
<visualize>true</visualize>
<pose>-0.064 0 0.121 0 0 0</pose>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<range>
<min>0.20000</min>
<max>3.5</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>base_scan</frame_name>
</plugin>
</sensor>
</link>
<link name="wheel_left_link">
<inertial>
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>1.1175580e-05</ixx>
<ixy>-4.2369783e-11</ixy>
<ixz>-5.9381719e-09</ixz>
<iyy>1.1192413e-05</iyy>
<iyz>-1.4400107e-11</iyz>
<izz>2.0712558e-05</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<collision name="wheel_left_collision">
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.018</length>
</cylinder>
</geometry>
<surface>
<!-- This friction pamareter don't contain reliable data!! -->
<friction>
<ode>
<mu>100000.0</mu>
<mu2>100000.0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="wheel_left_visual">
<pose>0.0 0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot3_waffle/meshes/tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="wheel_right_link">
<inertial>
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<inertia>
<ixx>1.1175580e-05</ixx>
<ixy>-4.2369783e-11</ixy>
<ixz>-5.9381719e-09</ixz>
<iyy>1.1192413e-05</iyy>
<iyz>-1.4400107e-11</iyz>
<izz>2.0712558e-05</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<collision name="wheel_right_collision">
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.033</radius>
<length>0.018</length>
</cylinder>
</geometry>
<surface>
<!-- This friction pamareter don't contain reliable data!! -->
<friction>
<ode>
<mu>100000.0</mu>
<mu2>100000.0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="wheel_right_visual">
<pose>0.0 -0.144 0.023 0 0 0</pose>
<geometry>
<mesh>
<uri>model://turtlebot3_waffle/meshes/tire.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
</visual>
</link>
<link name='caster_back_right_link'>
<pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.00001</iyy>
<iyz>0.000</iyz>
<izz>0.00001</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.005000</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<link name='caster_back_left_link'>
<pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.00001</iyy>
<iyz>0.000</iyz>
<izz>0.00001</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<sphere>
<radius>0.005000</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>
<link name="camera_link"/>
<link name="camera_rgb_frame"/>
<link name="camera_rgb_optical_frame">
<inertial>
<pose>0.069 -0.047 0.107 0 0 0</pose>
<inertia>
<ixx>0.001</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.001</iyy>
<iyz>0.000</iyz>
<izz>0.001</izz>
</inertia>
<mass>0.035</mass>
</inertial>
<pose>0.069 -0.047 0.107 0 0 0</pose>
<sensor name="camera" type="depth">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>30</update_rate>
<camera name="intel_realsense_r200">
<horizontal_fov>1.02974</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_driver" filename="libgazebo_ros_camera.so">
<ros>
<!-- <namespace>test_cam</namespace> -->
<!-- <remapping>image_raw:=image_demo</remapping> -->
<!-- <remapping>camera_info:=camera_info_demo</remapping> -->
</ros>
<!-- camera_name>omit so it defaults to sensor name</camera_name-->
<!-- frame_name>omit so it defaults to link name</frameName-->
<!-- <hack_baseline>0.07</hack_baseline> -->
</plugin>
</sensor>
</link>
<joint name="base_joint" type="fixed">
<parent>base_footprint</parent>
<child>base_link</child>
<pose>0.0 0.0 0.010 0 0 0</pose>
</joint>
<joint name="wheel_left_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_left_link</child>
<pose>0.0 0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="wheel_right_joint" type="revolute">
<parent>base_link</parent>
<child>wheel_right_link</child>
<pose>0.0 -0.144 0.023 -1.57 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name='caster_back_right_joint' type='ball'>
<parent>base_link</parent>
<child>caster_back_right_link</child>
</joint>
<joint name='caster_back_left_joint' type='ball'>
<parent>base_link</parent>
<child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>
<pose>-0.064 0 0.121 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="camera_joint" type="fixed">
<parent>base_link</parent>
<child>camera_link</child>
<pose>0.064 -0.065 0.094 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="camera_rgb_optical_joint" type="fixed">
<parent>camera_rgb_frame</parent>
<child>camera_rgb_optical_frame</child>
<pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="camera_rgb_joint" type="fixed">
<parent>camera_link</parent>
<child>camera_rgb_frame</child>
<pose>0.005 0.018 0.013 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
</ros>
<update_rate>30</update_rate>
<!-- wheels -->
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>
<!-- kinematics -->
<wheel_separation>0.287</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<command_topic>cmd_vel</command_topic>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>false</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<!-- <namespace>/tb3</namespace> -->
<remapping>~/out:=joint_states</remapping>
</ros>
<update_rate>30</update_rate>
<joint_name>wheel_left_joint</joint_name>
<joint_name>wheel_right_joint</joint_name>
</plugin>
</model>
</sdf>三、启动
ros2 launch rtabmap_demos turtlebot3_rgbd.launch.py 
#启动导航
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
ros2 launch nav2_bringup rviz_launch.py
但是唯一不幸的是rviz一直崩掉！
