Ailibot2仿真入门教程-建图-边建图边导航

文章说明

• 本教程主要介绍Ailibot2在gazebo仿真中进行边建图边导航的操作流程

操作步骤

• 启动gazebo仿真，加载Ailibot2模型

$ ros2 launch ailibot2_bringup robot_sim.launch.py

• 启动建图节点

$ ros2 launch ailibot2_slam gmapping.launch.py

• 启动导航节点

$ ros2 launch ailibot2_nav navigate_with_slam.launch.py

• 在rviz中，点击上方工具栏的Nav2 Goal按钮，选择目标点开始移动建图

演示视频

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