Limo 1. 基础命令

https://static.generation-robots.com/pdf/agilex-limo-user-manual.pdf

测试底盘

roslaunch limo_base limo_base.launch

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.2
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

键盘操控：

roslaunch limo_bringup limo_teletop_keyboard.launch

Moving around: K是停止。
   u    i    o
   j    k    l
   m    ,    .

测试雷达：

roslaunch limo_bringup limo_start.launch pub_odom_tf:=false

roslaunch limo_bringup lidar_rviz.launch

gmapping建图：

roslaunch limo_bringup limo_start.launch pub_odom_tf:=false

roslaunch limo_bringup limo_gmapping.launch

 

cd ~/agilex_ws/src/limo_ros/limo_bringup/maps/

rosrun map_server map_saver -f student_room

读取地图