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Gmapping仿真

Description: 在模拟器上实现机器人的Gmapping-SLAM效果

Tutorial Level: BEGINNER

Next Tutorial: Robots/Xbot/tutorial/cn/AMCL 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gmapping-slam程序

$ roslaunch xbot2_nav_sim gmapping_demo.launch

打开RViz,查看slam建图效果

$ roslaunch xbot2_nav_sim view_navigation.launch

然后启动键盘控制,移动机器人,可以看到地图逐渐建立的过程

$ rosrun xbot2_description xbot2_keyboard_teleop.py

运行效果如下图所示 Xbot Gmapping

接下来

Wiki: Robots/Xbot/tutorial/cn/Gmapping Simulation (last edited 2017-12-01 06:21:09 by sychaichangkun)