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command_multi
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command_multi
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底盘+雷达
roslaunch clbrobot robot.launch robot_name:="robot1"
slam
roslaunch multi_slam multi_slam.launch robot_name:="robot1" robot_y_pos:="10.0" slam_methods:=gmapping
多机建图
roslaunch multi_slam map_merge.launch
键盘控制
roslaunch multi_slam keyboard.launch robot_name:="robot1"
保存地图
rosrun map_server map_saver -f /home/catkin_ws/src/multi_robot/map
$ vim /home/catkin_ws/src/multi_robot/map/map.yaml
## 将原来的origin参数,修改为:
origin: [0.000000, 0.000000, 0.000000]
启动地图
roslaunch multi_navigation navigation_multi_map.launch map_file:=$HOME/tan/catkin_ws/src/multi_robot/map/map.yaml
导航
roslaunch multi_navigation navigation_multirobot.launch robot_name:="robot1"
rviz
roslaunch multi_navigation navigation_rviz.launch
发布目标位置
rostopic pub /robot1/move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 0.5, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}'
开启多机导航
roslaunch multi_navigation navigation.launch
开启控制程序
roslaunch multi_navigation control.launch
开启用户界面
/Interface
python main.py