Turtlebot3 Gazebo仿真环境使用Cartographer算法建图

1.cartographer环境配置，并运行demo

2.下载turtlebot3，并编译

cd ~/catkin_make/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ..
catkin_make

3.设置环境变量

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc 
source ~/.bashrc

4.修改launch文件

catkin_ws/src/turtlebot3/turtlebot3_slam/launch/turtlebot3_cartographer.launch文件
把$(arg configuration_basename)更改为turtlebot3_lds_2d_gazebo.lua

5.打开Gazebo仿真环境

roslaunch turtlebot3_gazebo turtlebot3_world.launch

6.使用cartographer算法建图

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

7.使用键盘控制Turtlebot3运动

8.保存地图

rosrun map_server map_saver -f ~/map

9.点击2D Nav Goal,设置目标点，导航。