Ailibot仿真入门教程-建图-cartographer 自定位

文章说明

• 介绍如何在在gazebo仿真环境下使用Ailibot进行cartographer pure localization 自定位

操作步骤

cartographer建图

• 启动gazebo且加载模型

$ roslaunch ailibot_gazebo test_world.launch

• 运行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

• 保存为pbstream格式的地图

$ rosservice call /finish_trajectory 0
//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 
$ rosservice call /write_state "{filename: '${HOME}/map/cartographer-localization.pbstream'}"

cartographer pure localization 自定位

• 保存完地图后中止以上所有命令，再重启启动gazebo且加载模型

$ roslaunch ailibot_gazebo test_world.launch

• 运行cartographer_localization程序

$ roslaunch ailibot_slam cartographer_localization.launch load_state_filename:=${HOME}/map/cartographer-localization.pbstream

• 启动Rviz

$ roslaunch ailibot_rviz view_slam_cartographer.launch

• 启动键盘控制

$ roslaunch ailibot_teleop keyboard.launch

• 可以尝试将小车搬离到其他地方，再移动一下小车，可以发现小车的位置已匹配到地图上的相应位置

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=830105472&bvid=BV1Tu4y1X7wA&cid=1243151116&page=1&as_wide=1&high_quality=1&danmaku=0" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>