Ailibot仿真入门教程-建图-cartographer建图

文章说明

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

操作步骤

• 启动gazebo且加载模型

$ roslaunch ailibot_gazebo test_world.launch

• 运行cartographer建图程序

//运行不使用imu数据的cartographer建图程序
$ roslaunch ailibot_slam cartographer_without_imu.launch

//或者运行使用imu数据的cartographer建图程序
$ roslaunch ailibot_slam cartographer.launch

• 启动Rviz

$ roslaunch ailibot_rviz view_slam_cartographer.launch

• 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

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=915249483&bvid=BV1au4y1e74Z&cid=1247219004&page=1&as_wide=1&high_quality=1&danmaku=0" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>