http://wiki.ros.org/navigation/Tutorials/RobotSetup#Robot_Setup
- mapping
rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=base_scan
rosrun gmapping slam_gmapping scan:=base_scan
rosrun map_server map_saver -f your-map-name
地图格式为.pgm 打开方式GUI imageviewer Terminal eog gimp gthumb
记录包
rosbag record -O mylaserdata /base_scan /tf
回放
rosbag play –clock your-map-name
- Navigation stack setup
默认现在机器人使用tf发布坐标变换,
机器人使用tf 和 the nav_msgs/Odometry 发布里程计数据