Turtlebot3-burger入门教程-创建地图

说明

• 介绍如何通过turtlebot3进行创建地图

相关设备

• Turtlebot3-burger套件：采购地址

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动Burger

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC] 然后运行SLAM启动文件以及Rviz，默认的slam算法为gampping

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch

• [Remote PC] 启动键盘操作

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

• 移动burger进行建图

• [Remote PC] 建图完成后保存地图

$ rosrun map_server map_saver -f ~/map

• map.pgm和map.yaml 在 ~/ 目录里创建

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=66706701&cid=115686517&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>