努力是明天快乐的源泉

首先将空间点转化为地图坐标,存储到activeArea,再将根据坐标点(int),转化为patch的局部cell坐标指针,存储到m_activeArea全局变量,根据m_activeArea分配patch空间,另外更新地图map的cell.n和cell.visits-----/描述栅格转台/最后是不断拓展node节点发布地图就是通过读取权重最大的粒子,然后通过子节点往上读取,直到根节点结束,根节点是一张空白地图if (! m_count //第一次 || m_linearDistance&g

### gfs dummy config file## WARNING: Changing these parameters, can## increase of decrese the performance of the## mapper![gfs]##################################################### These are probably the most improtant parameters#### gfs - nu

1、从代码Gmapping包的main.cpp进入intmain(int argc, char** argv){ ros::init(argc, argv, "slam_gmapping"); SlamGMapping gn; gn.startLiveSlam();//这里进入主函数 ros::spin(); return(0);}2.由于调用了slam_gmapping.cpp的gn.startLiveSlam()函数,在函数中,进行了回调函数:laserCallback.

linux更新出现Could not get lock /var/lib/apt/lists/lock问题解决方法首先输入命令：sudo rm /var/lib/apt/lists/* -vf执行完成后，再输入命令：sudo apt-get update就可以更新了

ROS installsudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654sud