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AMCL仿真

Description: 在模拟器上实现机器人的AMCL定位效果

Tutorial Level: BEGINNER

Next Tutorial: Robots/Xbot/tutorial/cn/Navigation Simulation

启动Gmapping仿真

首先确保xbot2_descriptionxbot2_nav_sim包已经下载并编译。

首先启动xbot2的仿真环境

$ roslaunch xbot2_description gazebo.launch

启动AMCL定位程序

$ roslaunch xbot2_nav_sim amcl_demo.launch

该launch文件中已经指定了软件博物馆场景的地图文件,启动了map server

打开RViz,查看定位效果

$ roslaunch xbot2_nav_sim view_navigation.launch

然后启动键盘控制,移动机器人,可以看到粒子发散和收敛的过程

$ rosrun xbot2_description xbot2_keyboard_teleop.py

Xbot AMCL1 Xbot AMCL2

接下来

Wiki: Robots/Xbot/tutorial/cn/AMCL Simulation (last edited 2017-12-01 06:31:37 by sychaichangkun)