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