TX1開發板利用cartographer建立地圖並且實現保存地圖
建立地圖以及保存地圖(A2雷達測試)
(TX1開發板)
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation rplidar_laser.launch
roslaunch turtlebot_teleop xbox360_teleop.launch
roslaunch cartographer_ros demo_revo_lds.launch
(工控機)
roslaunch turbot_rviz nav.launch
(TX1開發板)保存地圖
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
定位測試
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