在上一节中我们已经实现了SLAM,接下来就可以在创建好的地图上导航啦。
一、安装功能包
$ sudo apt install ros-foxy-navigation2
$ sudo apt install ros-foxy-nav2-bringup
二、开始导航
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml
![](https://www.guyuehome.com//Uploads/Editor/202110/20211025_79222.png)
$ ros2 run turtlebot3_teleop teleop_keyboard
![](https://www.guyuehome.com//Uploads/Editor/202110/20211025_99224.gif)
![](https://www.guyuehome.com//Uploads/Editor/202110/20211025_80797.png)
![](https://www.guyuehome.com//Uploads/Editor/202110/20211025_40948.gif)
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