2021-01-20

ubuntu18.04运行turtlebot2与Hokuyo（URG-04LX-UG01）激光雷达建图步骤（配置好后）

1.打开第一个终端

配置ros环境变量

$ source ~/catkin_ws/devel/setup.bash

修改串口权限

$ sudo chmod a+rw /dev/ttyACM0

运行roscore

$ roscore

2.打开另一个终端

启动turtlebot2

$ roslaunch turtlebot_bringup minimal.launch

3.打开一个新终端

启动gmmaping建图

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch

此时可能报错如下

[FATAL] [1611126610.532934830]: Failed to create the dwa_local_planner/DWAPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class dwa_local_planner/DWAPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are  base_local_planner/TrajectoryPlannerROS
[move_base-6] process has died [pid 9487, exit code 1, cmd /opt/ros/melodic/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel odom:=odom scan:=scan __name:=move_base __log:=/home/qmw/.ros/log/6a5f6734-5aee-11eb-aaf0-b88198b64892/move_base-6.log].
log file: /home/qmw/.ros/log/6a5f6734-5aee-11eb-aaf0-b88198b64892/move_base-6*.log

运行以下命令即可解决：

$ sudo apt-get install ros-melodic-dwa-local-planner

4.打开一个新终端

使用键盘操作turtlebot2

$ roslaunch turtlebot_teleop keyboard_teleop.launch

5.再打开一个终端

启动rivz，可看建图情况

$ source catkin_ws/devel/setup.bash
$ roslaunch turtlebot_rviz_launchers view_navigation.launch

6.建图结束以后再打开一个新终端存储地图文件

$ mkdir -p ~/map
$ rosrun map_server map_saver -f ~/map/hokuyo_gmapping

参考：https://blog.csdn.net/aicynthiachan/article/details/104902650