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This package is modified according to rbx1 package, applicable to mrobot, built map and navigation. Use can refer to rbx1. Supports XtionPro and RPLIDAR lidar.

0.read mrobot_document

建立地图:
0.使用手册
mrobot_document/Mrobot使用手册
1.启动底盘:
	roslaunch mrobot_bringup mrobot.launch
2.启动激光雷达或深度摄像头:
	深度摄像头XtionPro:roslaunch mrobot_bringup turtlebot_fake_laser_openni2.launch 
	或RPLIDAR激光雷达: roslaunch rplidar_ros rplidar.launch 
	注:请将rplidar.launch中的ttyUSB0改为ttyUSB1,并先插入底盘并启动底盘再启动RPLIDAR。

3.启动gmapping:
	roslaunch mrobot_nav gmapping_demo.launch
4.启动rviz:
	rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz
5.启动键盘遥控:
	roslaunch mrobot_nav keyboard_teleop.launch

建好地图可以关闭键盘直接点2D Nav Goal导航测试
	
保存地图:
	roscd mrobot_nav/maps
	rosrun map_server map_saver -f your_map

导航:
1.启动底盘:
	roslaunch mrobot_bringup mrobot.launch
2.启动激光雷达或深度摄像头:
	深度摄像头XtionPro:roslaunch mrobot_bringup turtlebot_fake_laser_openni2.launch 
	或RPLIDAR激光雷达: roslaunch rplidar_ros rplidar.launch 
	注:请将rplidar.launch中的ttyUSB0改为ttyUSB1,并先插入底盘并启动底盘再启动RPLIDAR。
3.加载地图:
	roslaunch mrobot_nav tb_demo_amcl.launch map:=your_map.yaml
4.运行rviz:
	rosrun rviz rviz -d `rospack find mrobot_nav`/nav_test.rviz
	
	注:如果编译出现问题,权限不够,请到mrobot-indigo\mrobot_nav\cfg文件夹下,执行:chmod +777 CalibrateAngular.cfg和chmod +777 CalibrateLinear.cfg
	
Web:http://www.rosclub.cn/
Author:Steven.Zhang
QQ:377287082
QQ group:184903125
E-mail:377287082.qq.com
Date:2016.12.10