TurtleBot3-TX2版入门教程-13.hector建图SLAM

1）[Remote PC] 启动roscore

roscore

2）[TurtleBot3] 启动TurtleBot3

roslaunch turbot3_bringup minimal.launch

3）[TurtleBot3] 启动hecotor

roslaunch turbot3_slam hector_demo.launch

4）[Remote PC] 启动rviz

roslaunch turbot3_rviz navigation_rviz.launch

5）[Remote PC] 启动键盘操作

roslaunch turbot3_teleop keyboard.launch

移动机器人进行建图

6）[TurtleBot3] 完成建图后运行地图保存节点

rosrun map_server map_saver -f ~/map

map.pgm和map.yaml 在 ~/ 目录里创建。