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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: AMCL仿真
Contents
启动Gmapping仿真
首先确保xbot2_description和xbot2_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 
