本文主要分享cartographer的安装,并基于上一篇博客中《机器人开发实践》的编译源码仿真机器人,实现仿真建图。在本系列博客下一篇将继续分享实际项目中RoboSense16线雷达基于cartographer的建图历程。
一. cartographer的安装
二. cartographer的仿真建图
- 进入cartographer安装的工作空间,激活环境。
cd ~/catkin_cartographer/
source install_isolated/setup.bash
- 创建文件cartographer_demo_rplidar.launch
cd ~/catkin_cartographer/src/cartographer_ros/cartographer_ros/launch
cp demo_revo_lds.launch cartographer_demo_rplidar.launch
gedit cartographer_demo_rplidar.launch
并修改为以下代码:
<launch>
<param name="/use_sim_time" value="true" />
<node name