TurtleBot3入门教程#ROS2版#-cartographer建图

文章说明

• 本教程介绍如何使用cartographer算法建图

相关设备

• TB3套件：采购地址

操作步骤

• [TurtleBot] 启动TB3

$ ros2 launch turtlebot3_bringup robot.launch.py

• [Remote PC] 启动cartographer算法建图程序

$ ros2 launch turtlebot3_cartographer cartographer.launch.py

• [Remote PC] 启动键盘控制

$ ros2 run turtlebot3_teleop teleop_keyboard

• 控制小车移动建图

• [Remote PC] 保存地图

$ ros2 run nav2_map_server map_saver_cli -f ~/map

• map.pgm和map.yaml两个文件将会被保存到系统的HOME目录下

演示视频

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