1 准备
1.1 下载依赖包
下载一下包以后用，直接在命令窗口粘贴运行就可以了：
sudo apt-get install ros-indigo-turtlebot-bringup \
ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \
ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \
ros-indigo-laser-* ros-indigo-hokuyo-node \
ros-indigo-audio-common gstreamer0.10-pocketsphinx \
ros-indigo-pocketsphinx ros-indigo-slam-gmapping \
ros-indigo-joystick-drivers python-rosinstall \
ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \
python-setuptools ros-indigo-dynamixel-motor-* \
libopencv-dev python-opencv ros-indigo-vision-opencv \
ros-indigo-depthimage-to-laserscan ros-indigo-arbotix-* \
ros-indigo-turtlebot-teleop ros-indigo-move-base \
ros-indigo-map-server ros-indigo-fake-localization \
ros-indigo-amcl git subversion mercurial
1.2 下载rbx1
执行以下命令：
$ cd ~/catkin_ws/src
$ git clone https://github.com/pirobot/rbx1.git
$ cd rbx1
$ git checkout indigo-devel
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ rospack profile
如果这个package的代码后来更新了，需要执行以下代码：
$ cd ~/catkin_ws/src/rbx1
$ git pull
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
2 安装Arbotix仿真器
2.1 安装仿真器
运行代码：
$ sudo apt-get install ros-indigo-arbotix-*
然后运行：
rospack profile
2.2 测试仿真器
首先启动turtleBot：
roslaunch rbx1_bringup fake_turtlebot.launch
或者也可以启动Pi Robot：
$ roslaunch rbx1_bringup fake_pi_robot.launch
然后启动rviz：
$ rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz
可以发送指令让它移动：
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'
想要停止运动，可以Ctrl+C，再输入以下指令：
$ rostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'
2.3 仿真运行自己的机器人
如果我们有一个自己的URDF机器人模型，或者是下载了别的模型，想要仿真运行。
首先复制一份之前的机器人启动的launch文件。
$ roscd rbx1_bringup/launch
$ cp fake_turtlebot.launch fake_my_robot.launch
打开文件，会看到以下内容：
<launch>
<param name="/use_sim_time" value="false" />
<!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find rbx1_description)/urdf/turtlebot.urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen" clear_params="true">
<rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
</launch>
我们只要简单的替换掉package和指向我们自己的URDF/Xacro 文件的路径就可以了，其他的都可以保持不变。像下面这样：
<launch>
<param name="/use_sim_time" value="false" />
<!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find YOUR_PACKAGE_NAME)/YOUR_URDF_PATH' " />
<param name="robot_description" command="$(arg urdf_file)" />
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen" clear_params="true">
<rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
</launch>
如果你的机器人有机械臂或者头，可以使用fake_pi_robot.launch文件作为模板修改。
