TX1开发板实现Cartographer建图并保存

TX1开发板利用cartographer建立地图并且实现保存地图

建立地图以及保存地图(A2雷达测试)

(TX1开发板)

 roslaunch turtlebot_bringup  minimal.launch

roslaunch turtlebot_navigation  rplidar_laser.launch

roslaunch turtlebot_teleop  xbox360_teleop.launch

roslaunch cartographer_ros demo_revo_lds.launch

(工控机)

roslaunch turbot_rviz nav.launch

 

 

(TX1开发板)保存地图

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

 

 

定位测试

 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