ROS+SLAM简单案例
代码位置:https://github.com/Xiangyu-Fu/slam_bot
执行/home/mol/study/ros_learn/catkin_ws/src/slam_bot文件夹的文件。
先catkin_make
(1)先进入/catkin_ws/文件,执行:
$ source devel/setup.bash
$ roslaunch slam_bot slam.launch //或者roslaunch /home/mol/study/ros_learn/catkin_ws/src/slam_bot/launch/slam.launch
(2)先进入/home/mol/study/ros_learn/catkin_ws/src/slam_bot/launch文件夹打开终端:
$ sudo chmod 777 teleop
进入/catkin_ws/文件,执行:
$ source devel/setup.bash
$ rosrun slam_bot teleop
(3)先进入/catkin_ws/文件,执行:
$ source devel/setup.bash
roslaunch slam_project mapping.launch (mapping.launch要为可执行文件)
(4)
使用teleop控制模型四处移动,使用ctrl+c停止建图节点。
(5)使用rtabmap-databaseViewer打开建图数据库
https://blog.csdn.net/qq_37266917/article/details/106416213#t6
同意使用数据库参数
View -> Constraint View
View -> Graph View