ROS2版Turbot3-Multi仿真教程-单机frontier自主探索建图

说明

• 介绍如何实现单机frontier自主探索建图
• 基于m-explore实现

步骤

• 新开终端，启动仿真

./multi_scripts/single_gazebo.sh

• 效果如图：

• 新开终端，启动导航

./multi_scripts/single_nav.sh

• 新开终端，启动建图

./multi_scripts/single_slam.sh 

• 新开终端，启动rviz

./multi_scripts/single_rviz_slam.sh

• 效果如图：

• 新开终端，启动frontier探索

./multi_scripts/single_explore.sh

• 过一会，小车就开始自主探索，需要一定时间来完成
• 完成之后，效果如图：

• 保存地图

$ ./multi_scripts/single_save_map.sh explore
save map into /home/ubuntu/ros2_tb3_multi_ws/src/turtlebot3_multi/map/explore
[INFO] [1682245303.087541872] [map_saver]: 
    map_saver lifecycle node launched. 
    Waiting on external lifecycle transitions to activate
    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1682245303.090970522] [map_saver]: Creating
[INFO] [1682245303.103192032] [map_saver]: Configuring
[INFO] [1682245303.112582279] [map_saver]: Saving map from 'map' topic to '/home/ubuntu/ros2_tb3_multi_ws/src/turtlebot3_multi/map/explore' file
[WARN] [1682245303.112675583] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1682245303.112711447] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
[INFO] [map_io]: Received a 384 X 384 map @ 0.05 m/pix
[INFO] [map_io]: Writing map occupancy data to /home/ubuntu/ros2_tb3_multi_ws/src/turtlebot3_multi/map/explore.pgm
[INFO] [map_io]: Writing map metadata to /home/ubuntu/ros2_tb3_multi_ws/src/turtlebot3_multi/map/explore.yaml
[INFO] [map_io]: Map saved
[INFO] [1682245303.726892178] [map_saver]: Map saved successfully
[INFO] [1682245303.767018045] [map_saver]: Destroying

• 查看图片

eog /home/ubuntu/ros2_tb3_multi_ws/src/turtlebot3_multi/map/explore.pgm

• 效果图

演示视频