TX1 开发板利用 cartographer 建立地图并且实现保存地图 建立地图以及保存地图 (A2 雷达测试 ) (TX1 开发板 ) roslaunch turtlebot_bringup minimal.launch roslaunch turtlebot_navigation rplidar_laser.launch roslaunc
TX1开发板利用cartographer建立地图并且实现保存地图
建立地图以及保存地图(A2雷达测试)
(TX1开发板)
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation rplidar_laser.launch
roslaunch turtlebot_teleop xbox360_teleop.launch
roslaunch cartographer_ros demo_revo_lds.launch
(工控机)
roslaunch turbot_rviz nav.launch
(TX1开发板)保存地图
rosservice call /write_state ‘carto_map.pbstream‘ ‘1‘
cd ~/.ros
mv carto_map.pbstream /home/ubuntu/map
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/ubuntu/map/carto_map -pbstream_filename=/home/ubuntu/map/carto_map.pbstream -resolution=0.05
定位测试
roslaunch turtlebot_bringup minimal.launch
roslaunch turbot_slam laser_amcl_rplidar.launch map_file:=/home/ubuntu/map/carto_map.yaml
roslaunch turbot_rviz nav.launch