Turbot-SLAM入门教程-实现hector_slam建图(RPlidar A2版)

Turbot-SLAM入门教程-实现hector_slam建图(RPlidar A2版)

说明

• 介绍Turbot搭载激光雷达Rplidar A2通过hector_slam构建地图

操作步骤

• [Turbot] 新终端，启动底盘

$ roslaunch turbot_bringup minimal.launch

• [Turbot] 新终端，启动底盘，启动hector,用于构建地图

$ roslaunch turbot_slam laser_hector_demo.launch

• [Remote PC] 新终端，启动键盘

$ roslaunch turbot_teleop keyboard.launch 

• [Remote PC] 新终端，启动rviz，实时查看建图情况

$ roslaunch turbot_rviz nav.launch

• [Turbot] 新终端，保存地图

$ rosrun turbot_map saver rplidar_a2_hector_mapping
$ ls ~/map   

• 查看内容，包含rplidar_a2_hector_mapping.pgm rplidar_hector_mappingrplidar_a2_hector_mapping.yaml
• 查看地图，已经生成rplidar_a2_hector_mapping.pgm文件，可以用图像浏览器（gimp, eog, gthumb, 等等)打开查看。

演示视频