Turbot3-ARM入门教程-抓取挑战之创建地图

说明

• 本教程介绍如何在抓取挑战中创建地图

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [Turbot3 SBC] 启动机器人

$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_robot_remote.launch 

• [Remote PC] 启动slam

$ roslaunch turtlebot3_home_service_challenge_tools slam.launch

• [Remote PC] 启动键盘控制

$ roslaunch turtlebot3_home_service_challenge_tools mobile_teleop_key.launch

 Control Your TurtleBot3!
 ---------------------------
 Moving around:
         w
    a    s    d
         x

 w/x : increase/decrease linear velocity
 a/d : increase/decrease angular velocity
 space key, s : force stop

 CTRL-C to quit

• 移动机器人进行建图

• [Remote PC] 保存地图

$ roscd turtlebot3_home_service_challenge_tools/maps/
$ ROS_NAMESPACE=tb3_hsc rosrun map_server map_saver -f tb3_hsc

演示视频