# rosbridge-server-demo

**Repository Path**: xu_xiang_liu/rosbridge-server-demo

## Basic Information

- **Project Name**: rosbridge-server-demo
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2020-04-02
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#### 简介

一个包括发布者、订阅者、Server端的ROS程序，配合[rosbridge-demo](https://gitee.com/bluebot/dashboard/programs/60426/projects/bishe2020/android-rosbridge-demo/code/)使用



#### 仿真依赖

1. Turtlebot3元功能包
2. slam_gmapping功能包中的gmapping功能包
3. navigation元功能包中的map_server（可选）



#### 使用方法

1. 安装ROS Melodic版本

2. 安装rosbridge_suit软件包

3. 在项目根目录下执行以下命令

   ```
   catkin_make
   source devel/setup.bash
   roslaunch beginner_tutorials demo.launch
   ```

4.  sudo export TURTLEBOT3_MODEL=burger

5. rosbag play TB3_WAFFLE_SLAM.bag`

6. ` rosrun gmapping slam_gmapping`