corvin rasp melodic
0d4573ea75
在启动amcl_ydlidar_x2l.launch进行自动导航时,先启动robot_bringup.launch
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2 years ago | |
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| .. | ||
| config | 2 years ago | |
| launch | 2 years ago | |
| maps | 2 years ago | |
| nodes | 2 years ago | |
| rviz | 2 years ago | |
| CMakeLists.txt | 2 years ago | |
| README.md | 2 years ago | |
| package.xml | 2 years ago | |
README.md
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 control_robot control_robot.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 ~/ros_minibot_ws/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