机器人自主导航案例

扫描地图

启动gazebo相关的环境：

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roslaunch turtlebot3_gazebo turtlebot3_world.launch

启动slam扫描地图节点，扫描算法为gmapping算法：

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roslaunch turtlebot3_slam turtlebot3_slam.launch map_file:=gmapping

启动键盘遥控节点：

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roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

保存地图：

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rosrun map_server map_saver -f ~/world

image-20220113185409550

导航

启动gazebo相关的环境：

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roslaunch turtlebot3_gazebo turtlebot3_world.launch

打开终端，启动导航节点：

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roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/world.yaml
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roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation nav_cloister_demo.launch