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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

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标签: turbot3入门教程