ROS gmapping SLAM建图并保存

运行roslaunch turtlebot3_gazebo slam.launch，启动slam

roslaunch turtlebot3_gazebo slam.launch

slam.launch文件如下：

<launch>
    <!-- Arguments -->
    <!-- <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> -->
    <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
    <arg name="set_base_frame" default="base_footprint"/>
    <arg name="set_odom_frame" default="odom"/>
    <arg name="set_map_frame"  default="map"/>

    <!-- Gmapping -->
    <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
        <param name="base_frame" value="$(arg set_base_frame)"/>
        <param name="odom_frame" value="$(arg set_odom_frame)"/>
        <param name="map_frame"  value="$(arg set_map_frame)"/>
        <rosparam command="load" file="$(find turtlebot3_slam)/config/gmapping_params.yaml" />
    </node>
</launch>

在rviz中添加map

运行rosrun teleop_twist_keyboard teleop_twist_keyboard.py，手动控制机器人探索地图

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

最后运行下面的命令保存地图

rosrun map_server map_saver -f ~/catkin_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/map