/************gmapping 建图 + 导航****************************
建图:(gmapping)
下载以配置好的turtlebotapps应用包(turtlebot+hokuyo 平台):
链接: https://pan.baidu.com/s/1LfzWtQ_bCO5bgH6ZBGAbWQ 提取码: s4rs 复制这段内容后打开百度网盘手机App,操作更方便哦
http://download.csdn.net/download/v7xyy/10227870
启动:
roscore
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
rosrun map_server map_saver -f map/my_gmap11
导航 :(navigation)
给gm11.pgm gm11.yaml最高权限 并在gm11.yaml 前加/home/xx/map/gm11.pgm
在amcl_demo.launch加下面
<!-- Define laser type-->
<arg name