Turbot-AI入门教程-多线建图-实现Cartographer 2D实时点云建图和导航

Turbot-AI入门教程-多线建图-实现Cartographer 2D实时点云建图和导航

说明：

• 介绍如何通过多线雷达点云结合movebase实现2D建图和导航

步骤：

• [turbot]新终端，启动turbot：

$ roslaunch turbot_bringup minimal.launch

• [turbot]新终端，启动建图

$ roslaunch turbot_slam pointcloud_cartographer_demo.launch

• [turbot/pc]新终端，启动RVIZ

$ roslaunch turbot_rviz  pointcloud_cartographer_2d.launch

• 通过rviz上的设定目标点，既可以实现自主导航同时建图
• 效果如下：

演示视频

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