autodrive入门教程-多线建图-实现Cartographer 2D实时点云建图

autodrive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：

• [autodrive]新终端，启动底盘：

$ roslaunch racebot  minimal.launch

• [autodrive]新终端，启动建图

$ roslaunch racebot_slam pointcloud_cartographer_demo.launch

• [autodrive/pc]新终端，启动RVIZ

$ roslaunch racebot_rviz  pointcloud_cartographer_2d.launch

• [autodrive]新终端，启动游戏杆

$ roslaunch racebot joy.launch

• 通过游戏杆控制小车移动，完成建图
• 效果如下：

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=244416208&bvid=BV1wv41117ji&cid=232070469&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>