安装nav2

sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup
sudo apt install ros-foxy-turtlebot3*

运行示例

source /opt/ros/foxy/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py