ROS2与Turtlebot3-ARM入门教程-cartographer建图

文章说明

• 本教程主要介绍怎么使用turtlebot3-arm进行cartographer建图

操作步骤

• [TurtleBot3 SBC] 启动机器人

$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

• [Remote PC] 启动建图算法

$ ros2 launch turtlebot3_manipulation_cartographer cartographer.launch.py

• [Remote PC] 启动舵机控制

$ ros2 launch turtlebot3_manipulation_moveit_config servo.launch.py

• [Remote PC] 启动键盘控制

$ ros2 run turtlebot3_manipulation_teleop turtlebot3_manipulation_teleop

• 移动机器人进行建图

• [Remote PC] 建图完成后，保存地图

$ ros2 run nav2_map_server map_saver_cli -f ~/map

演示视频

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