zhuo
5687f131f9
添加大环境建图地图分辨率注释;建图时不用启动move_base
|
4 år sedan | |
|---|---|---|
| .. | ||
| config | 4 år sedan | |
| launch | 4 år sedan | |
| maps | 4 år sedan | |
| nodes | 5 år sedan | |
| rviz | 4 år sedan | |
| CMakeLists.txt | 5 år sedan | |
| README.md | 5 år sedan | |
| package.xml | 5 år sedan | |
README.md
blackTornadoRobot建图导航功能
建图导航功能包，可实现建图导航功能
建图运行方法
首先启动小车
$ roslaunch robot_bringup robot_bringup.launch
然后运行键盘控制程序
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
再运行建图程序gmapping
$ roslaunch robot_navigation gmapping_ydlidar_X2L.launch
启动rviz可视化工具
$ roslaunch robot_navigation view_navigation.launch
用键盘控制小车移动可建立地图地图
最后保存地图
$ rosrun map_server map_saver -f ~/blackTornadoRobot/src/robot_navigation/maps/mymap
导航运行方法
首先启动小车
$ roslaunch robot_bringup robot_bringup.launch
运行amcl导航
$ roslaunch robot_navigation amcl_ydlidar_X2L.launch
启动rviz可视化工具
$ roslaunch robot_navigation view_navigation.launch