参考Turbot-SLAM入门教程-实现cartographer 2D建图(多线雷达rslidar-16版)
更改相关launch文件发布雷达节点为/rslidar/scan.
- 主机,在bashrc里面,设置雷达类型为:rslidar_16
export TURTLEBOT_LASER_SENSOR=rslidar_16
- 主机,新终端,启动turbot:
$ roslaunch turbot_bringup minimal.launch
- 新终端,启动雷达:
roslaunch rslidar_pointcloud rs_lidar_16.launch
- 新终端,启动点云转换:
roslaunch pointcloud_to_laserscan turtlebot_rslidar.launch
- 主机,新终端,启动激光建图(修改launch文件)
$ roslaunch turbot_slam laser_cartographer_demo.launch
- 从机,新终端,启动RVIZ
$ roslaunch turbot_rviz nav.launch
- 或者启动
$ roslaunch turbot_rviz nav_cartographer.launch
- 从机,新终端,启动键盘
$ roslaunch turbot_teleop keyboard.launch
- 移动建图,移动turtlebot走圈完成建图,也可以远程控制