惠阳做网站,注册微信公众平台,用wordpress作下载站点,个人做网站流程图文章目录 获取源码安装依赖项编译简单场景运行gmapping开启键盘控制通过launch文件来启动gmappingGmapping建图的参数设置地图的保存和加载参考 获取源码
cd ~/catkin_ws/src/
git clone https://gitcode.com/weixin_42990464/wpr_simulation.git
git clone https://gitcode.c… 文章目录 获取源码安装依赖项编译简单场景运行gmapping开启键盘控制通过launch文件来启动gmappingGmapping建图的参数设置地图的保存和加载参考 获取源码
cd ~/catkin_ws/src/
git clone https://gitcode.com/weixin_42990464/wpr_simulation.git
git clone https://gitcode.com/weixin_42990464/waterplus_map_tools.git
git clone https://gitcode.com/weixin_42990464/waterplus_map_tools.git安装依赖项
ROS Noetic (Ubuntu 20.04)
cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/waterplus_map_tools/scripts
./install_for_noetic.sh编译
cd ~/catkin_ws
catkin_make
echo source ~/catkin_ws/devel/setup.bash ~/.bashrc
source ~/.bashrc简单场景
roslaunch wpr_simulation wpb_stage_robocup.launch运行gmapping
rosrun gmapping slam_gmappinp在rviz中添加机器人,map,雷达话题。 开启键盘控制
rosrun wpr_simulation keyboard_vel_ctrl
#键盘控制WPR机器人
#w - 向前加速
#s - 向后加速
#a - 向左加速
#d - 向右加速
#q - 左旋加速
#e - 右旋加速
#空格 - 刹车
#x - 退出 通过launch文件来启动gmapping
cd ~/catkin_ws/src
catkin_create_pkg slam_pkg roscpp rospy std_msgs保存rviz配置 在slam_pkg/launch文件中新建gmapping.launch
launchinclude file$(find wpr_simulation)/launch/wpb_stage_robocup.launch /node pkggmapping typeslam_gmapping nameslam_gmapping /node pkgrviz typerviz namerviz args-d $(find slam_pkg)/rviz/gmapping.rviz /node pkgwpr_simulation typekeyboard_vel_ctrl namekeyboard_vel_ctrl //launchGmapping建图的参数设置 地图的保存和加载
地图保存
cd ${save_dir}
rosrun map_server map_saver -f map地图加载
rosrun map_server map_server map.yaml参考
https://www.bilibili.com/video/BV1wF411Q7Q3/?spm_id_from333.788vd_source667c3d14dbb51ec849c0bc7c38329d10
