Turtlebot3多机建图教程-遥控建图

Turtlebot3多机建图教程-遥控建图

说明：

• 介绍如何实现多机的遥控建图

相关设备：

• Turbot3-Multi套件，采购地址

操作步骤：

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动第一台小车

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

• [TurtleBot] 启动第二台小车

$ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_1" set_lidar_frame_id:="tb3_1/base_scan"

• [Remote PC] 启动第一台小车模型

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_0

• [Remote PC] 启动第二台小车模型

 $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=tb3_1

• [Remote PC] 启动第一台小车的slam建图

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map

• [Remote PC] 启动第二台小车的slam建图

$ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map

• [Remote PC] 启动地图合并

$ roslaunch turtlebot3_slam  turtlebot3_map_merge.launch
       

• [Remote PC] 启动rviz

$ rviz -d `rospack find turtlebot3_slam`/rviz/multi_turtlebot3_slam.rviz

• [Remote PC]启动第一台机器人键盘控制

$ ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key

• [Remote PC]启动第二台机器人键盘控制

$ ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key

• 随后分别遥控机器人在环境里面走动进行建图。

• 两台机器人的扫描出的地图会重合在一起，可以在点击map选项来某个机器人的地图

• 示例图：
  

• 保存地图：

$ rosrun map_server map_saver -f ~/map

演示视频