ROS2与Ailibot2入门教程-导航-边建图边导航

ROS2与Ailibot2入门教程-导航-边建图边导航

说明：

• 介绍如何实现边建图边导航

相关设备：

• ailibot2差速系列：采购Ailibot2-D2,采购Ailibot2-D4
• ailibot2全向系列：采购Ailibot2-M4，采购Ailibot2-O3，采购Ailibot2-O4

步骤：

• 小车端，启动底盘

ros2 launch ailibot2_bringup agent.launch.py

• 小车端，启动雷达

ros2 launch ailibot2_bringup laser.launch.py

• PC端，启动发布odom

ros2 launch ailibot2_bringup robot.launch.py 

• PC端，启动发布其中一种建图算法

#cartographer
ros2 launch ailibot2_slam cartographer.launch.py

#slam_toolbox
ros2 launch ailibot2_slam slam_toolbox.launch.py

#gmapping
ros2 launch ailibot2_slam gmapping.launch.py

• PC端，启动发布导航

ros2 launch ailibot2_nav navigate_with_slam.launch.py 

• 在rviz上指定目标点
• 小车自主导航到目标点
• 效果如图:

• PC端，保存地图

ros2 run nav2_map_server map_saver_cli -f ~/map