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turtlebot入门教程-cartographer在Turltlebot的应用

cartographer使用

说明

cartographer介绍

这是一个实时同步定位与地图系统(SLAM),提供ROS 系统支持2D 和 3D SLAM(simultaneous localization and mapping)库。

Cartographer ROS for TurtleBots介绍

这个库通过Cartographer ROS提供针对Turtlebots的Cartographer SLAM

来自hitcm的安装方法(不需要翻墙)

来自官方的安装方法(需要翻墙)

1. 库安装

 - 在ubuntu 14.04 + indigo 测试通过,应该在ubuntu 16.04 + Kinetic 也能运行。

  • 我们推荐使用wstoolrosdep.但更快安装推荐使用Ninja.
  • 安装步骤:
# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

2. 运行

  • 安装完成即Cartographer, Cartographer ROS, and Cartographer ROS’s TurtleBot都已经安装。
  • 下载例子包到~/Downloads目录,并测试
# Download the example bag.(下载例子)
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

# Launch the 2D LIDAR demo.(2D雷达DEMO)
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.(2D深度相机DEMO)
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.(3D深度相机DEMO)
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag
  • launch 文件会自动启动roscore和rviz

3. 视频演示

  • 演示1
  • 演示2

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标签: googlecartographer, googlecartographer turtlebot, cartographer_turtlebot, cartographer_ros