Turbot3入门教程-建图-cartographer建图

Turtlebot3中级教程-Cartographer算法建图

说明

• 介绍如何使用turbot3来进行Cartographer算法建图

操作步骤

• [Remote PC] 执行：

$ roscore 

• [TurBot3] 启动底盘

$ roslaunch turbot3_bringup  minimal.launch

• [TurBot3] 启动cartographer

$ roslaunch turbot3_slam cartographer.launch

or 

$ roslaunch turbot3_slam cartographer_noimu.launch

• [Remote PC] 启动rviz

$ roslaunch turbot3_rviz cartographer_rviz.launch

• [Remote PC] 启动键盘控制

$ roslaunch turbot3_teleop keyboard.launch 

• 控制turbot3移动完成建图

• [TurBot3] 保存地图

$ rosrun map_server map_saver -f ~/map

演示视频