Turbot4-ARM机器人入门教程-建图-rtabmap使用视觉建图

文章说明

• 本教程主要介绍如何使用激光数据进行rtabmap算法建图

操作步骤

• 启动模型

$ ros2 launch turbot4_arm_bringup robot.launch.py

• 启动rtabmap算法建图，只启动相机

$  ros2 launch turbot4_arm_vslam rtabmap.launch.py slam_mode:=mapping rtabmap_args:=-d

• 单独启动rviz

$ ros2 launch turbot4_arm_vslam view_rtabmap.launch.py

• 直接在rviz中使用导航方式进行移动建图

• 新开终端，保存地图

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

• 另外建图程序终止后，会生成一个rtabmap.db文件到根目录的.ros/文件夹

[rtabmap-6] rtabmap: Saving database/long-term memory... (located at /home/ubuntu/.ros/rtabmap.db)
[rtabmap-6] rtabmap: 2D occupancy grid map saved.
[rtabmap-6] rtabmap: Saving database/long-term memory...done! (located at /home/ubuntu/.ros/rtabmap.db, 114 MB)

演示视频

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