# xbot_simulator
===================
Launchers for Gazebo and stage simulation of the XBot
## 安装所需依赖
1. 下载xbot源码包;
```
git clone https://github.com/DroidAITech/xbot.git
```
2. 编译运行所需依赖,根据具体问题,安装对应的ros包,也可以使用一下命令进行初步安装:
```
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y #默认16.04
```
如果编译还出现找不到相关包,还需要单独安装:
```
sudo apt-get install ros-kinetic-package-name
```
## 启动gazebo仿真
启动仿真环境
```
roslaunch xbot_gazebo xbot_world.launch
```
启动gmapping(要求仿真环境已经启动,下同)
```
roslaunch xbot_gazebo gmapping_demo.launch
```
启动机器人键盘控制程序
```
rosrun xbot_gazebo robot_keyboard_teleop.py
```
启动rviz,观察建图
```
cd ~/YOUR_PATH/xbot_gazebo/rviz
rviz -d gmapping.rviz
```
## 启动stage仿真
```
roslaunch xbot_stage xbot_in_stage.launch
```
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xbot机器人仿真程序。.zip
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2024-06-23
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仿真是一种利用计算机模型复现实际系统并对其进行实验研究的技术手段。通过建立数学或物理模型来模拟真实世界的系统,并通过实验对它们进行分析和优化。仿真技术在多个领域发挥着重要作用,包括航空航天、军事、工业、经济等。 仿真技术的发展始于20世纪初,最初应用于水利模型研究和实验室工作。随着计算机技术的进步,仿真技术得到了快速发展。尤其是在50年代至60年代,仿真技术广泛应用于航空、航天和原子能等领域,大大推动了其技术进步。 仿真技术主要依赖于计算机硬件和软件。用于仿真的计算机类型包括模拟计算机、数字计算机和混合计算机。仿真软件则涵盖了仿真程序、程序包、语言以及数据库管理系统,如SimuWorks平台,它提供了从建模、实时运行到结果分析的全过程支持。 仿真方法可以分为两大类:连续系统的仿真方法和离散事件系统的仿真方法。连续系统仿真通常涉及常微分方程或偏微分方程,而离散事件系统仿真则关注随机时间点的状态变化,主要用于统计特性分析。 总的来说,仿真技术通过模拟现实世界的各种系统,帮助人们更好地理解、预测和优化这些系统的性能。未来,随着技术的不断进步,仿真将在更多领域发挥更大的作用,为科学研究和技术发展提供强有力的支持。
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