turtlebot + kinect + hokuyo使用rosbag录制数据集_kinect2 数据集 ros bag-优快云博客

本文链接：https://blog.youkuaiyun.com/qintianhaohao/article/details/81089050

本文详细介绍使用ROS环境下的TurtleBot进行SLAM（Simultaneous Localization and Mapping）的完整流程，包括启动核心进程、发布机器人状态信息、运行键盘遥控、启动SLAM节点并记录数据等关键步骤。

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#操作步骤

$roscore
$roslaunch turtlebot_bringup minimal.launch
$roslaunch turtlebot_teleop keyboard_teleop.launch 
$roslaunch turtlebot_slam dataset_hokuyo_kinect.launch 
$rosrun rviz rviz
$rosbag record -o rosbag_test_2 /tf /odom /camera/rgb/image_color /scan /map
$rosrun map_server map_saver -f map_G6_big

#data_hokuyo_kinect.launch 文件：

<launch>

  <!-- running kinect -->
  <include file="$(find freenect_launch)/launch/examples/freenect-registered-xyzrgb.launch"/>

  <!-- running hokuyo -->
  <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">

	  <param name="calibrate_time" type="bool" value="false"/> 
	  <param name="port" type="string" value="/dev/ttyACM0"/> 
	  <param name="frame_id"  type="string" value="laser"/>
	  <param name="intensity" type="bool" value="false"/>
  </node>

  <!--static tf transform from base to laser-->
  <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.0 0.0 0.18 0 0.0 0.0 base_footprint laser 100"/> 

  <!-- runing Gmapping -->
  <include file="$(find turtlebot_navigation)/launch/includes/hokuyo_gmapping.launch.xml"/>

  <!--run this in terminal to record rosbag: 
	rosbag record -o rosbag_test_1 /tf /odom /camera/rgb/image_mono /scan /map-->

</launch>