Turtlebot2建图命令

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