TX1开发板实现Cartographer建图并保存

时间 2019-11-11

标签 tx1 开发板实 cartographer 保存繁體版

原文原文链接

TX1开发板利用cartographer创建地图而且实现保存地图ubuntu

创建地图以及保存地图(A2雷达测试)测试

(TX1开发板)spa

roslaunch turtlebot_bringup minimal.launch开发

roslaunch turtlebot_navigation rplidar_laser.launchit

roslaunch turtlebot_teleop xbox360_teleop.launchio

roslaunch cartographer_ros demo_revo_lds.launchstream

(工控机)file

roslaunch turbot_rviz nav.launchservice

(TX1开发板)保存地图map

rosservice call /write_state 'carto_map.pbstream' '1'

cd ~/.ros

mv carto_map.pbstream /home/ubuntu/map

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/ubuntu/map/carto_map -pbstream_filename=/home/ubuntu/map/carto_map.pbstream -resolution=0.05

定位测试

roslaunch turtlebot_bringup minimal.launch

roslaunch turbot_slam laser_amcl_rplidar.launch map_file:=/home/ubuntu/map/carto_map.yaml

roslaunch turbot_rviz nav.launch