From db506f845eecf5c9ee2ff77e3622663b08760464 Mon Sep 17 00:00:00 2001 From: Darby Lim Date: Wed, 21 Nov 2018 11:14:01 +0900 Subject: [PATCH] sim time param --- turtlebot3_gazebo/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/turtlebot3_gazebo/README.md b/turtlebot3_gazebo/README.md index 28aa4be..1c7d466 100644 --- a/turtlebot3_gazebo/README.md +++ b/turtlebot3_gazebo/README.md @@ -46,7 +46,7 @@ $ cd ~/turtlebot3_ws && colcon build ``` $ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models $ cd ~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds -$ gazebo --verbose turtlebot3_ros2_demo.world +$ gazebo --verbose turtlebot3_ros2_demo.world -s libgazebo_ros_init.so ``` ### Run tf2_monitor @@ -97,5 +97,6 @@ $ ros2 run tf2_ros tf2_echo base_footprint wheel_left_wheel ### Run Cartographer ``` - +$ launch `ros2 pkg prefix turtlebot3_cartographer`/share/turtlebot3_cartographer/launch/turtlebot3_cartographer.py +$ ros2 param set cartographer_node /use_sim_time true ``` \ No newline at end of file