Turbot4-ARM机器人入门教程-建图-gmapping算法建图

文章说明

• 本教程主要介绍如何进行gmapping算法建图

操作步骤

• 启动模型

$ ros2 launch turbot4_arm_bringup robot.launch.py

• 启动slam_toolbox，同步建图

$ ros2 launch turbot4_arm_slam gmapping.launch.py

• 启动键盘控制, 移动小车继续建图

$ ros2 launch turbot4_arm_teleop keyboard.launch.py

• 新开终端，保存地图

$ ros2 launch turbot4_arm_slam save_map.launch.py  map:=${HOME}/map/gmapping

• 新开终端，打开保存的地图

$ eog ~/map/gmapping.pgm

演示视频

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