ROS2与turtlebot4仿真入门教程-使用rtabmap进行建图和导航

说明

• 介绍如何通过rtabmap进行建图和导航
• 测试环境： humble + turtlebot4 simulator

步骤

• 启动ignition仿真

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true

• 效果图：

• 启动建图

ros2 launch rtabmap_demos turtlebot4_slam.launch.py use_sim_time:=true qos:=2

#OR

ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=true subscribe_scan:=true rgbd_sync:=true depth_topic:=/oakd/rgb/preview/depth odom_sensor_sync:=true camera_info_topic:=/oakd/rgb/preview/camera_info rgb_topic:=/oakd/rgb/preview/image_raw visual_odometry:=false approx_sync:=true approx_rgbd_sync:=false odom_guess_frame_id:=odom icp_odometry:=true odom_topic:="icp_odom" map_topic:="/map" qos:=2 use_sim_time:=true odom_log_level:=warn rtabmap_args:="--delete_db_on_start --Reg/Strategy 1 --Reg/Force3DoF true --Mem/NotLinkedNodesKept false" use_action_for_goal:=true

• 点击gazebo右下角的三角，开始运行仿真
• 再点击右上角··的图标让turtlebot4离开充电桩
• viz效果图：

• rviz效果图

移动机器人

• 方法1：使用rviz上的Nav2 Goal来指定目标点进行导航
• 方法2：启动键盘控制 ros2 run teleop_twist_keyboard teleop_twist_keyboard
• 方法3: 安装m-explore-ros2实现自主探索建图 ros2 launch explore_lite explore.launch.py

参考：

• 参考地址1
• 参考地址2

演示视频

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