ROS基础学习（hector_mapping建图---缺点是没有Odom参与弥补误差）（九）

hector_mapping进行建图

安装slam包hector-mapping

sudo apt install ros-noetic-hector-mapping

hector-mapping的接口

hector-mapping的参数

以map_udpate_distance_thresh(double,default:0.4)
map_update_angle_thresh (double, default: 0.9)
map_pub_period (double, default: 2.0)
这三个为例

运行hector-mapping

roslaunch wpr_simulation wpb_stage_slam.launch
rosrun hector_mapping hector_mapping 
rosrun rviz rviz
rosrun rqt_robot_steering rqt_robot_steering 

效果

使用launch运行hector-mapping

创建一个slam包

catkin_create_pkg slam_pkg roscpp rospy std_msgs
cd ~/catkin_ws/src/slam_pkg
mkdir launch
cd launch
gedit hector.launch
cd ~/catkin_ws
catkin_make

保存rviz的配置文件，将其保存在~/catkin_ws/src/slam_pkg/rviz
名字为slam.rviz
测试有没有效果

rosrun rviz rviz -d ~/catkin_ws/src/slam_pkg/rviz/slam.rviz

写launch

gedit hector.launch

<launch>
    <!--$(find wpr_simulation) 相当于 ~/catkin_ws/src/wpr_simulation-->
    <include file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
    <node pkg="hector_mapping" type="hector_mapping" name ="hector_mapping">
        <param name="map_update_distance_thresh" value="0.1"/>
        <param name="map_update_angle_thresh" value="0.1"/>
        <param name="map_pub_period" value="0.1"/>
    </node>
    <node pkg="rviz" type="rviz" name ="rviz" args="-d $(find slam_pkg)/rviz/slam.rviz"/>
    <node pkg="rqt_robot_steering" type="rqt_robot_steering" name ="rqt_robot_steering"/>

</launch>

大佬给的launch文件运行两个小车建图

roslaunch wpr_simulation wpb_hector_comparison.launch