1.Cartographer建图
环境配置,编译代码
启动建图:roslaunch cartographer_ros demo_sick.launch
2.激光雷达节点的使用说明
环境配置,编译代码
rosrun lms1xx LMS1xx_node
3.libfreenect2驱动安装
编译成功后,执行sudo su 进入管理员模式,再执行:
source kinect_ws/devel/setup.bash
roslaunch kinect2_bridge kinect2_bridge.launch
想查看图像,可以执行rosrun kinect2_viewer kinect2_viewer sd cloud
4.Visual slam
环境配置,编译代码
环境配置的时候将ORB_SLAM2、Thirdparty、Example下的ROS中的build删掉,执行./build.sh和./build_ros.sh
在.bashrc下添加export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/xxx/ORB_SLAM2/Examples/ROS/ORB_SLAM3
建图和定位之前先运行kinect2节点
建图命令:./ORB_SLAM2/Examples/ROS/ORB_SLAM3/RGBD
定位命令:./ORB_SLAM2/Examples/ROS/ORB_SLAM3/RosMapLocator