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