Ailibot入门教程-建图-cartographer建图

Ailibot入门教程-建图-cartographer建图

说明

• 介绍如何在Ailibot上进行cartographer建图

相关设备：

• Ailibot套件，采购地址

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Ailibot] 启动小车

$ roslaunch ailibot_bringup bringup.launch

• [Remote PC] 运行cartographer建图程序

//运行不使用imu数据的cartographer建图程序
$ roslaunch ailibot_slam cartographer_without_imu.launch

//或者运行使用imu数据的cartographer建图程序
$ roslaunch ailibot_slam cartographer.launch

• [Remote PC] 启动Rviz

$ roslaunch ailibot_rviz view_slam_cartographer.launch --screen

• [Remote PC] 启动键盘控制

$ roslaunch ailibot_teleop keyboard.launch

• 移动小车进行建图

• [Remote PC] 保存地图

//若根目录下没有map文件夹，则需要重新创建map文件夹
$ mkdir ~/map && cd ~/map 
$ roslaunch ailibot_tools map_saver.launch map_file:=$HOME/map/map

• map.pgm和map.yaml 在 ~/map 目录下里创建

• 效果如下：

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=65732272&cid=114049564&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>