系列文章目录
【ROS2大白话】一、ROS2 humble及cartorgrapher安装
【ROS2大白话】二、turtlebot3安装
【ROS2大白话】三、给turtlebot3安装realsense深度相机
【ROS2大白话】四、ROS2非常简单的传参方式
文章目录
没有真实小车的情况下,利用gazebo的仿真,操作小乌龟来学习ros2。废话不多说,直接上命令。
一、安装
Install Gazebo
sudo apt install ros-humble-gazebo-*
Install Cartographer
假如前一节未安装源码版本的cartographer,那就安装apt版本的。
sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros
Install Navigation2
sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup
Install TurBot3 Packages
source ~/.bashrc
sudo apt install ros-humble-dynamixel-sdk
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-turtlebot3
sudo apt install ros-humble-turtlebot3-gazebo
Install Teleop
sudo apt-get install ros-humble-teleop-twist-keyboard
二、运行
启动机器人gazebo
打开一个终端terminal,输入
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
启动cartographer启动节点
打开一个终端terminal,输入
ros2 launch turtlebot3_cartographer cartographer.launch.py
启动键盘控制节点
打开一个终端terminal,输入
ros2 run teleop_twist_keyboard teleop_twist_keyboard
结束建图
打开一个终端terminal,输入
ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: 0}"
保存当前地图信息
打开一个终端terminal,输入
ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: '/home/develop/bags/mymap.pbstream'}"
将pbstream转化为pgm和yaml,在cartographer_pbstream_to_ros_map目录下执行
cd /opt/ros/humble/lib/cartographer_ros
./cartographer_pbstream_to_ros_map -map_filestem=${HOME}/bags/mymap -pbstream_filename=${HOME}/bags/mymap.pbstream -resolution=0.05