TX1開發板實現Cartographer建圖並保存

TX1開發板利用cartographer創建地圖而且實現保存地圖

創建地圖以及保存地圖(A2雷達測試)

(TX1開發板)

 roslaunch turtlebot_bringup  minimal.launch

roslaunch turtlebot_navigation  rplidar_laser.launch

roslaunch turtlebot_teleop  xbox360_teleop.launch

roslaunch cartographer_ros demo_revo_lds.launch

(工控機)

roslaunch turbot_rviz nav.launch

 

 

(TX1開發板)保存地圖

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

 

 

定位測試

 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