gmaping建图环境

使用Rplidar a1激光雷达进行gmapping建图

安装依赖包

sudo apt-get install ros-indigo-serial  ros-indigo-turtlebot-rviz-launchres

mkdir -p ~/dashgo_ws/src

cd ~/dashgo_ws/src

## dashgo SLAM版本

git clone https://github.com/EAIBOT/dashgo.git

cd dashgo
git checkout slam_01

## 激光雷达rplidar 一代驱动

git clone https://github.com/robopeak/rplidar_ros.git
cd rplidar_ros
git checkout 1.0.1

## 建图依赖包

git clone https://github.com/ros-perception/slam_gmapping
git clone https://github.com/ros-perception/openslam_gmapping
git clone https://github.com/ros-planning/navigation.git

然后编译

串口访问全限

#创建dashgo和rplidar的串口别名的访问

roscd dashgo_bringup/startup
sudo sh create_dashgo_udev.sh
sudo sh create_rplidar_udev.sh

运行

roslaunch dashgo_nav gmapping_demo.launch
rosrun dashgo_bringup teleop_twist_keyboard.py
roslaunch turtlebot_rviz_launchers view_navigation.launch

PC端安装rviz

sudo apt-get  install ros-indigo-serial ros-indigo-turtlebot-rviz-launchers

PC端运行图形界面

export ROS_MASTER_URI=http://192.168.199.240:11311
roslaunch turtlebot_rviz_launchers view_navigation.launch

注意：ROS_MASTER_URI的IP要根据实际情况来定。

树莓派端再启动一个窗口控制小车底盘运动

rosrun dashgo_bringup teleop_twist_keyboard.py

保存地图

roscd dashgo_nav/maps
rosrun map_server map_saver -f my_map

运行效果如下图：