Turtlebot 3 SLAM创建地图及 Navigation导航

Turtlebot 3 在PC端进行SLAM地图创建及Nagivation导航

• 首先在PC上运行roscore，在SBC上运行

roslaunch turtlebot3_bringup turtlebot3_robot.launch

• 开始在PC上进行SLAM地图创建

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot3_slam turtlebot3_slam.launch 

• 启动键盘控制

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 

移动Turtlebot 3建图

• 保存地图

rosrun map_server map_saver -f ~/map

• 启动rviz进行Navigation导航

cd catkin_ws
source devel/setup.bash
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

1. 点击 2D Pose Estimate，定位好Turtlebot 当前的位置及方向，和之前保存的地图匹配好
2. 点击 2D Nav Goal，定义前进位置及方向，Turtlebot 会进行路径规划