实物展示:
运行步骤:
一.Gmapping构建地图
Step1.PC端(master):roscoreStep2.树莓派端:roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)
Step3.PC端(master):roslaunch mrobot_navigation gmapping_demo.launch
Step4.PC端(master):roslauch mrobot_teleop mrobot_teleop.launch
启动键盘控制节点,让机器人在室内环境(例如家里房间)移动探索,完成后保存地图。
rosrun map_server map_saver -f caolei_room_map
Step1.树莓派端:roslaunch mrobot_bringup mrobot_with_laser.launch
Step2.PC端(master):roslaunch mrobot_navigation nav_demo.launch
rviz界面中点击菜单栏“2D Nav Goal"按钮,在地图上任意选择一个目标点。
使用teb_local_planner,导航效果:
参考资料:
1.ROS WIKI
2.gmapping源码:https://github.com/OpenSLAM-org/openslam_gmapping
3.ros导航包源码:https://github.com/ros-planning/navigation
4.teb_local_planner源码包:https://github.com/rst-tu-dortmund/teb_local_planner