Turtlebot3中级教程-gmapping算法建图

说明

• 介绍如何在turtlebot3上通过gmapping算法进行建图

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动turtlebot3

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC] 运行gmapping和启动rviz

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

• 如果想单独打开Rviz，可以注释掉turtlebot3_slam.launch中的rviz部份，再单独运行下面的命令

• [Remote PC] 启动rviz

$ rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_gmapping.rviz

• [Remote PC] 启动键盘控制

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

• 移动机器人进行建图

• [Remote PC] 保存地图

$ rosrun map_server map_saver -f ~/map

• 效果图：