turtlebot3地图构建
1、启动turtlebot3的world:
roslaunch turtlebot3_gazebo turtlebot3_world.launch
2、启动slam导航包并配置方法:
Karto算法:
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=karto
Gmapping算法:
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
其中slam_methods:=karto 命令为选择slam建图的算法,这里我只尝试了三种算法来实现,分别是gmapping,hector,karto,还有谷歌的cartographer算法,Frontier Exploration等等。
hector Mapping 功能包的安装指令为:
sudo apt-get install ros-kinetic-hector-mapping
Karto 功能包的安装指令为:
sudo apt-get install ros-kinetic-slam-karto
以及Cartographer安装指令:
sudo apt-get install ros-kinetic-cartographer ros-kinetic-cartographer-ros ros-kinetic-cartographer-ros-msgs ros-kinetic-cartographer-rviz
这个地方