Turbot-SLAM入门教程-实现cartographer建图(Rplidar A2版)

Turbot-SLAM入门教程-实现cartographer建图(Rplidar A2版)

说明

• 介绍利用Rplidar A2激光雷达通过cartographer算法实现建图。

操作步骤

• 安装cartographer：

  • 参考：cartographer在Turltlebot的应用1-官方安装及补充

• [Turbot] 新终端，启动turbot

$ roslaunch turbot_bringup minimal.launch

• [Turbot] 新终端，启动雷达，启动激光建图

$ roslaunch turbot_slam laser_cartographer_demo.launch

• [Remote PC]新终端，启动RVIZ

$ roslaunch turbot_rviz  nav.launch

• 或者启动

$ roslaunch turbot_rviz  nav_cartographer.launch

• [Remote PC]新终端，启动键盘

$ roslaunch turbot_teleop  keyboard.launch

• 移动建图，移动turtlebot走圈完成建图，也可以远程控制
• [Turbot] 新终端，完成建图后保存地图，实际路径是：/home/user/map/

$ rosrun turbot_map saver rplidar_a2_cartographer
$ ls ~/map

• 查看内容，包含rplidar_a2_cartographer.pgm rplidar_a2_cartographer.yaml

• 效果图：

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=81391047&cid=139295921&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>

参考资料

• 官方安装：https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/
• http://blog.exbot.net/archives/2852