ROS使用 cartographer建图

最新推荐文章于 2025-06-19 10:03:01 发布

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最新推荐文章于 2025-06-19 10:03:01 发布 · 5.2k 阅读

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#cartographer

1>启动gazebo

 roslaunch mbot_gazebo view_mbot_with_laser_gazebo_suyunzzz_world.launch

2>启动cartographer

roslaunch cartographer_ros cartographer_demo_rplidar.launch

launch文件如下：

<!--
  Copyright 2016 The Cartographer Authors

  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

  Unless required by applicable law or agreed to in writing, software
  distributed under the License is distributed on an "AS IS" BASIS,
  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  See the License for the specific language governing permissions and
  limitations under the License.
-->

<!-- 请复制该文件到cartographer_ros/