XTDrone——二维激光SLAM（Cartographer）

一、Cartographer安装

ROS自带有cartographer，因此可以apt安装

sudo apt install ros-melodic-cartographer-ros
sudo apt install ros-melodic-cartographer-rviz

安装map server用于保存地图

sudo apt install ros-melodic-map-server

复制相关文件

roscd cartographer_ros
sudo cp -r  ~/XTDrone/sensing/slam/laser_slam/cartographer/* ./

二、Cartographer使用

启动仿真环境

roslaunch px4 indoor3.launch 

启动HectorSLAM

roslaunch cartographer_ros xtdrone_2d.launch

启动通信脚本

cd ~/XTDrone/communication/
python multirotor_communication.py iris 0

将HectorSLAM