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环境配置：

ubuntu16.04 + kinetic

安装rrt_exploration (参照这里)

1、安装所需的包

$ sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo
$ sudo apt-get install python-opencv python-numpy python-scikits-learn

2、安装rrt_exploration 、 rrt_exploration_tutorials

$ cd ~/catkin_ws/src/
$ git clone https://github.com/hasauino/rrt_exploration.git
$ git clone https://github.com/hasauino/rrt_exploration_tutorials.git
$ cd ~/catkin_ws
$ catkin_make

测试

1、Gazebo simulation

$ roslaunch rrt_exploration_tutorials single_simulated_house.launch

2、Start Exploration

$ roslaunch rrt_exploration single.launch

3、在rviz里点5个点

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即可开始

如果出现gazebo打不开

?可参考我的另一篇博客https://blog.csdn.net/qq_37427972/article/details/82853655

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