Turbot3入门教程#ROS2版#-orbslam_v2建图

文章说明

• 本教程介绍如何在turbo3上通过相机进行orbslam_v2建图

相关设备

• TurBot3机器人套件：采购地址

操作步骤

• [TutBot3] 新终端，启动小车

$ ros2 launch turbot3_bringup core.launch.py

• [TutBot3] 新终端，启动建图程序

# Momo模式
$ ros2 launch turbot3_vslam orb_slamv2_d435i.launch.py
# RGBD模式
$ ros2 launch turbot3_vslam orb_slamv2_d435i.launch.py len_type:=rgbd

• [TutBot3] 新终端，启动键盘控制节点

$ ros2 launch turbot3_teleop keyborad.launch.py

• 移动小车进行建图

演示视频

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