Kinect v2实现gmapping
1、主机新终端,启动turtlebot2
roslaunch turbot_bringup minimal.launch
2、主机新终端,启动kinect2
roslaunch turtlebot_navigation kinect2_cpu.launch
3、主机新终端,启动gmapping
roslaunch turtlebot_navigation kinect2_gmapping_demo.launch
4、从机新终端,启动rviz
roslaunch turtlebot_rviz_launchers view_navigation.launch
5、主机新终端,启动键盘控制
roslaunch turbot_teleop keyboard.launch
6、保存地图
rosrun turbot_map saver zhizaokongjian
RPLIDAR A2版本
1、主机终端,启动机器人
roslaunch turbot_bringup minimal.launch
2、主机终端,启动建图算法
gmapping
roslaunch turbot_slam laser_gmapping_demo.launch
cartographer
roslaunch turbot_slam laser_cartographer_demo.launch
3、从机终端,启动rviz查看建图情况
roslaunch turbot_rviz nav.launch
4、主机新终端,保存地图
rosrun turbot_map saver rplidar_a2_gmapping
ls ~/map