# MROBOT 基于MATLAB和GAZEBO仿真
SLAM using 2D lidar
Usage
1. Matlab:
Step1:setenv('ROS_MASTER_URI','http://UBUNTU-IP:11311');
setenv('ROS_IP','PC-IP');
Step2:rosinit
2. Ubuntu16.04(kinetic):
Step1:roscore
Step2:roslauch mrobot_laser_nav_gazebo.launch
note:you need set ROS_MASTER_URI & ROS_HOSTNAME both of MATLAB and UBUNTU
3. ROS_CONTROL_APP
To Do
1. Mapping
2. AMCL_Localize
<center class="half">
<img src="https://github.com/lei01cao/MROBOT/blob/master/img/AMCL-12.png" title="AMCL-12" height="350" width="400">
<img src="https://github.com/lei01cao/MROBOT/blob/master/img/AMCL-30.png" title="AMCL-30" height="350" width="400">
</center>
<!--  -->
3. Path_follow
<center class="half">
<img src="https://github.com/lei01cao/MROBOT/blob/master/img/prm-500.png" title="PRM-500" height="350" width="400">
<img src="https://github.com/lei01cao/MROBOT/blob/master/img/prm-5000.png" title="PRM-5000" height="350" width="400">
</center>
<!--  -->
4. ObstacleAvoidance
References
1.ROS WIKI
2.Robotic System Toolbox Matlab2018b
基于MATLAB和GAZEBO实现的激光slam仿真源代码（期末大作业&课程设计） （944个子文件） 
learning_communication-srv.asd 276B learning_communication-msg.asd 264B setup.bash 260B setup.bash 260B feature_tests.bin 12KB CMakeDetermineCompilerABI_CXX.bin 8KB CMakeDetermineCompilerABI_C.bin 8KB .built_by 11B .built_by 11B CMakeCCompilerId.c 16KB feature_tests.c 688B catkin_make.cache 224B .catkin 67B CATKIN_IGNORE 0B cmake.check_cache 85B client 83KB Makefile.cmake 31KB learning_communication-genmsg.cmake 13KB learning_communicationConfig.cmake 9KB learning_communicationConfig.cmake 9KB mrobot_descriptionConfig.cmake 8KB mrobot_descriptionConfig.cmake 8KB mrobot_bringupConfig.cmake 8KB mrobot_gazeboConfig.cmake 8KB mrobot_gazeboConfig.cmake 8KB mrobot_bringupConfig.cmake 8KB mrobot_teleopConfig.cmake 8KB learning_tfConfig.cmake 8KB mrobot_teleopConfig.cmake 8KB learning_tfConfig.cmake 8KB cmake_install.cmake 6KB cmake_install.cmake 5KB CMakeCXXCompiler.cmake 4KB CMakeCCompiler.cmake 2KB cmake_install.cmake 2KB cmake_install.cmake 2KB cmake_install.cmake 2KB order_packages.cmake 1KB package.cmake 1KB cmake_install.cmake 1KB DependInfo.cmake 1KB DependInfo.cmake 1006B DependInfo.cmake 1000B DependInfo.cmake 1000B DependInfo.cmake 1000B package.cmake 997B cmake_install.cmake 986B DependInfo.cmake 915B DependInfo.cmake 906B DependInfo.cmake 903B package.cmake 874B DependInfo.cmake 826B package.cmake 742B package.cmake 742B DependInfo.cmake 739B package.cmake 734B package.cmake 706B cmake_clean.cmake 658B CMakeDirectoryInformation.cmake 623B CMakeDirectoryInformation.cmake 623B CMakeDirectoryInformation.cmake 623B CMakeDirectoryInformation.cmake 623B CMakeDirectoryInformation.cmake 623B CMakeDirectoryInformation.cmake 614B CMakeDirectoryInformation.cmake 614B cmake_clean.cmake 521B cmake_clean.cmake 458B cmake_clean.cmake 454B learning_communicationConfig-version.cmake 426B mrobot_gazeboConfig-version.cmake 426B mrobot_teleopConfig-version.cmake 426B learning_tfConfig-version.cmake 426B mrobot_descriptionConfig-version.cmake 426B mrobot_bringupConfig-version.cmake 426B learning_communicationConfig-version.cmake 426B mrobot_gazeboConfig-version.cmake 426B mrobot_teleopConfig-version.cmake 426B mrobot_bringupConfig-version.cmake 426B mrobot_descriptionConfig-version.cmake 426B learning_tfConfig-version.cmake 426B cmake_clean.cmake 414B cmake_clean.cmake 403B CMakeSystem.cmake 402B cmake_clean.cmake 388B cmake_clean.cmake 384B CTestTestfile.cmake 380B cmake_clean.cmake 360B cmake_clean.cmake 350B cmake_clean.cmake 350B cmake_clean.cmake 350B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B共 944 条
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