SARL使用

SARL
1、roslaunch turtlebot_bringup minimal.launch

2、(建图) roslaunch turtlebot_navigation hokuyo_gmapping_movebase.launch
(键盘控制) roslaunch turtlebot_teleop keyboard_teleop.launch
(导航) roslaunch sarl_star_ros sarl_star_navigation.launch

3、rosrun map_server map_saver -f ~/map/newmap

4、roslaunch sarl_star_ros sarl_star_navigation.launch

5、roslaunch sarl_star_ros sarl_original_navigation.launch

turtlebot 基础导航包
1、启动turtlebot
roslaunch turtlebot_bringup minimal.launch

2、启动gmapping,用于构建地图
roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch

3、启动键盘操作Turtlebot
roslaunch turtlebot_teleop keyboard_teleop.launch

4、启动rviz，实时查看建图情况
roslaunch turtlebot_rviz_launchers view_navigation.launch

5、构建地图结束，上网本新开端口，建立目录，保存地图
mkdir -p ~/map
rosrun map_server map_saver -f ~/map/hokuyo_gmapping

6、启动turtlebot
roslaunch turtlebot_bringup minimal.launch

7、amcl
roslaunch turtlebot_navigation hokuyo_amcl_demo.launch map_file:=/home/zbx/map/hokuyo_map.yaml

8、启动rVIZ
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen