turbot3-4ws四轮转向仿真教程-gmapping建图

说明

• 介绍如何通过gmapping进行建图

步骤

• 启动仿真
• 默认已经手柄和进行话题转换

roslaunch turbot3_4ws_gazebo map_simulation.launch

• gazebo效果图

• 启动建图

roslaunch turbot3_4ws_navigation gmapping_sim.launch

• 通过手柄控制小车移动，实现建图
• rviz效果图

• 保持地图

rosrun map_server map_saver -f four_ws_map

• 效果

$ rosrun map_server map_saver -f four_ws_map
[ INFO] [1724053150.852079089]: Waiting for the map
[ INFO] [1724053151.124625829, 102.496000000]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1724053151.125028362, 102.496000000]: Writing map occupancy data to four_ws_map.pgm
[ INFO] [1724053152.420966744, 102.929000000]: Writing map occupancy data to four_ws_map.yaml
[ INFO] [1724053152.421524792, 102.929000000]: Done

• 地图保存执行命令的当前目录下，名为four_ws_map.pgm和four_ws_map.yaml