ROS2与Ailibot2入门教程-建图-cartographer建图

说明

• 介绍如何使用ailibot2进行cartographer建图

相关设备：

• ailibot2差速系列：采购Ailibot2-D2,采购Ailibot2-D4
• ailibot2全向系列：采购Ailibot2-M4，采购Ailibot2-O3，采购Ailibot2-O4

步骤：

• 小车端，启动底盘

ros2 launch ailibot2_bringup agent.launch.py

• 小车端，启动雷达

ros2 launch ailibot2_bringup laser.launch.py

• PC端，启动发布odom

ros2 launch ailibot2_bringup robot.launch.py

• PC端，启动建图

ros2 launch ailibot2_slam cartographer.launch.py use_rviz:=true

• 效果如下：

• PC端，启动键盘控制

ros2 launch ailibot2_teleop keyboard.launch.py

• PC端，保存地图

ros2 run nav2_map_server map_saver_cli -f ~/map

• 地图保存在用户根目录 名称为map

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=407886577&bvid=BV1KG411y7ZC&cid=1320148495&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>