Ailibot仿真入门教程-建图-gmapping建图

文章说明

• 介绍如何在在gazebo仿真环境下使用Ailibot进行gmapping建图

操作步骤

• 启动gazebo且加载模型

$ roslaunch ailibot_gazebo test_world.launch

• 运行gmapping建图程序

$ roslaunch ailibot_slam gmapping.launch

• 启动Rviz

$ roslaunch ailibot_rviz view_slam.launch --screen

• 启动键盘控制

$ roslaunch ailibot_teleop keyboard.launch

• 移动小车进行建图
• 保存地图

//若根目录下没有map文件夹，则需要重新创建map文件夹
$ mkdir ~/map && cd ~/map 
$ roslaunch ailibot_tools map_saver.launch map_file:=$HOME/map/map

• map.pgm和map.yaml 在 ~/map 目录下里创建

演示视频

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