Turbot3-AI多线入门教程-激光建图-实现Cartographer 2D实时建图

Turbot3-AI多线入门教程-激光建图-实现Cartographer 2D实时建图

说明：

• 介绍利用多线雷达rslidar-16版通过cartographer算法实现建图
• 机型：turbot3-AI + 多线雷达rslidar-16版

操作步骤

• [Turbot3] 新终端，启动turbot3

$ roslaunch turbot3_bringup minimal.launch

• [Turbot3] 新终端，启动激光建图

$ roslaunch turbot3_slam laser_cartographer_demo.launch

• [Turbot3 / Remote PC] 新终端，启动RVIZ

$ roslaunch turbot3_rviz nav.launch

• [Turbot3 / Remote PC] 或者启动

$ roslaunch turbot3_rviz  nav_cartographer.launch

• [Turbot3] 新终端，启动键盘

$ roslaunch turbot3_teleop  keyboard.launch

• 移动建图，移动Turbot3走圈完成建图，也可以远程控制

• 图示：

保存地图方法1

• [Turbot3] 新终端，完成建图后保存地图，实际路径是：/home/user/map/

$ rosrun turbot3_map saver cartographer_2d_mapping
$ ls ~/map   

• 查看内容，包含cartographer_2d_mapping.pgm cartographer_2d_mapping.yaml
• 此方法保存的地图会出现没有边。

保存地图方法2

• [Turbot3] 新终端，完成建图后保存pbstream

$ rosservice call /finish_trajectory 0
$ rosservice call /write_state ~/map/cartographer_2d_mapping.pbstream 1

• [Turbot3] 转换成ROS地图

$ rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/ubuntu/map/cartographer_2d_mapping -pbstream_filename=/home/ubuntu/map/cartographer_2d_mapping.pbstream -resolution=0.05

• 在目录/home/ubuntu/map/下即会出现

cartographer_2d_mapping.pgm
cartographer_2d_mapping.yaml