ros2与turtlebot3仿真教程-融合建图和导航

说明

• 介绍如何融合建图和导航，实现边建图边导航

步骤

• 启动仿真

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• 启动建图

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

• 启动导航

ros2 launch turtlebot3_navigation2 navigation2.launch.py

• 效果图

• 通过点击2D goal pose，再在rviz设置目标点，即可实现导航