Turbot-SLAM入门教程-实现cartographer建图(kinect V1版)

Turbot-SLAM入门教程-实现cartographer建图(kinect V1版)

说明

• 介绍利用Kinect V1深度相机通过cartographer算法建图。

操作步骤

• [Turbot] 新终端，启动turbot，启动cartographer

$ roslaunch turbot_slam cartographer_demo_2d.launch

• [Remote PC] 新终端，启动rviz，查看实时建图情况。

$ roslaunch turbot_rviz nav.launch

• [Remote PC] 新终端，启动键盘

$ roslaunch turbot_teleop keyboard.launch

• 移动建图，小房间就直接推着走一圈，完成建图。也可以启动远程控制建图。
• [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 kinect_2d_cartographer
$ ls ~/map

• 查看内容，包含kinect_2d_cartographer.pgm kinect_2d_cartographer.yaml

• 效果图：

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=81391561&cid=139296293&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