Puppy机器狗入门教程-建图-cartographer建图

Puppy机器狗入门教程-建图-cartographer建图

说明

• 本教程介绍如何在Puppy上使用cartographer进行建图

相关设备

• puppy机器狗套件：采购地址

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [Puppy] 启动minimal.launch

$ roslaunch puppy_bringup minimal.launch

• [Remote PC] 启动cartographer建图

$ roslaunch puppy_slam cartographer_demo.launch

• [Remote PC] 启动Rviz

$ roslaunch puppy_rviz slam_rviz.launch

• 启动手柄,移动puppy建图

• [Remote PC] 建图完成后,保存地图

$ rosrun map_server map_saver -f ~/map/cartographer_map

• cartographer_map.pgm和cartographer_map.yaml 在 ~/map 目录里创建