Turtlebot3-burger入门教程#noetic版#-创建地图

Turtlebot3-burger入门教程#noetic版#-创建地图

说明

• 本教程主要介绍如何通过turtlebot3进行创建地图

相关设备

• TB3套件：采购地址

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动Burger

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC] 然后运行SLAM启动文件以及Rviz，默认的slam算法为gampping

$ export TURTLEBOT3_MODEL=burger
#gmapping算法
$ roslaunch turtlebot3_slam turtlebot3_slam.launch 


#hector算法
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=hector
#cartographer算法
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
#karto算法
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=karto

• [Remote PC] 启动键盘操作

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

• 移动burger进行建图

• [Remote PC] 建图完成后保存地图

$ rosrun map_server map_saver -f ~/map

• map.pgm和map.yaml 在 ~/ 目录里创建

演示视频