需要用到激光slam做底层,手头没有激光,只能鼓捣点其他办法了,跑数据集就是一个!
1,第一种办法
下载编译安装turtlebot_simulator。然后
roslaunch turtlebot_stage turtlebot_in_stage.launch
会报错:
Invalid <arg> tag: environment variable 'TURTLEBOT_STAGE_MAP_FILE' is not set.
Google:
export TURTLEBOT_STAGE_WORLD_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/stage/maze.world"
export TURTLEBOT_STAGE_MAP_FILE="/opt/ros/indigo/share/turtlebot_stage/maps/maze.yaml"
OK,然后启动键盘控制:
安装:turtlebot_teleop
启动:
roslaunch turtlebot_teleop keyboard_teleop.launch
就可以用键盘控制机器人跑了,会有Topic出来,用rosbag记录下来即可。
然后:
rosbag play turtle.bag
rosparam set use_sim_time true
rosrun gmapping slam_gmapping
运行完毕后:
rosrun map_server ma