默认路径opt/ros/kinetic/share/下有stage 和 stage_ros
到该路径下可运行
rosrun stage_ros stageros $(rospack find stage_ros)/world/willow-erratic.world
或
rosrun stage_ros stageros willow-erratic.world
可以安装键盘控制
sudo apt-get install ros-kinetic-teleop-twist-keyboard
并启动
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
anything else : stop
CTRL-C to quit
用键盘就可以控制图中的蓝色方块移动
鼠标左键移动地图 滚轮放大 右键旋转视图 R键切换视角
roscd stage
rosrun rviz rviz -d `rospack find stage_ros`/rviz/stage.rviz
可显示点云数据