''' mkdir ros_ws cd ros_ws mkdir src cd src git clone https://github.com/adayimaxiga/autonomous-mobile-robot.git cd .. catkin_make_isolated ''' 依赖包主要是cartographer的依赖,可以直接 ''' sudo apt-get install ros-melodic-cartographer '''
all launch files under ./tools/launch
在tools/launch目录下
启动gazebo仿真环境,这里有个gui选项,用于选择是否开启gazebo环境,我默认选false因为太卡了
roslaunch environment.launch
启动amcl定位算法
roslaunch amcl.launch
启动键盘控制
roslaunch keyboard_control.launch
启动闭环检测
roslaunch loop_closure_check.launch
启动rviz,在tools/rviz
rviz -d look.rviz
键盘动一动就看出来了 LD 2019.3.19