Turtlebot-ROS2入门教程-Cartographer (mapping)建图

Turtlebot-ROS2入门教程-Cartographer建图

说明:

  • 介绍如何利用TurtlebotROS2实现Cartographer建图

步骤:

  • 单命令模式:
launch `ros2 pkg prefix turtlebot2_cartographer`/share/turtlebot2_cartographer/launch/turtlebot_carto_2d.py
  • 运行ROS bridge
  • 终端A:
. /opt/ros/kinetic/setup.bash
roscore
  • 终端B:
. /opt/ros/kinetic/setup.bash
. <YOUR_ROS2_WORKSPACE>
ros2 run ros1_bridge dynamic_bridge
  • 终端C:
. /opt/ros/kinetic/setup.bash
rosrun rviz rviz
  • 可以可视化如下话题:
  • the map on the topic /map
  • the transforms on the topic /tf
  • the depth images on the topic /depth
  • the laserscans on the topic /scans

参考:

  • https://github.com/ros2/turtlebot2_demo

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标签: turtlebot-ros2入门教程