SLAM与导航

机器人SLAM与导航

Moveit机械臂控制

1、解压rar文件问题

解决方法：
先安装

sudo apt install rar

安装完成后运行以下代码进行解压

rar x test.rar

这里test.rar为要解压的压缩文件名。

2、编译问题

新终端窗口下运行：

sudo apt-get install ros-melodic-move-base-msgs

3、Could not find the GUI, install the ‘joint_state_publisher_gui’ package

joint_state_publisher_gui是刚更新出来的包，需要把之前的joint_state_publisher换成joint_state_publisher_gui

sudo apt-get install ros-melodic-joint-state-publisher-gui 

4、SLAM功能包的应用

1. gmapping功能包

启动gmapping演示（laser）

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation gmapping_demo.launch
roslaunch mbot_teleop mbot_teleop.launch

启动gmapping演示（kinect）

roslaunch mbot_gazebo mbot_kinect_nav_gazebo.launch
roslaunch mbot_navigation gmapping_demo.launch
roslaunch mbot_teleop mbot_teleop.launch

2. hector_slam功能包

启动hector_slam演示（laser）

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation hector_demo.launch
roslaunch mbot_teleop mbot_teleop.launch

启动hector_slam演示（kinect）

roslaunch mbot_gazebo mbot_kinect_nav_gazebo.launch
roslaunch mbot_navigation hector_demo.launch
roslaunch mbot_teleop mbot_teleop.launch