Commands

rosrun rviz rviz启动ORB_SLAM2./stereo_kitti '/home/kylefan/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt' '/home/kylefan/catkin_ws/src/ORB_SLAM2/Examples/Stereo/KITTI00-02.yaml' '/home/kylefan/catkin_ws/src/00'rosrun ORB_SLAM2 Mono /home/kylefan/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/kylefan/catkin_ws/src/ORB_SLAM2/Examples/Monocular/TUM1.yamlrosrun ORB_SLAM2 Mono /home/kylefan/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/kylefan/catkin_ws/src/ORB_SLAM2/Examples/Monocular/TUM2.yaml./mono_tum /home/kylefan/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/kylefan/catkin_ws/src/ORB_SLAM2/Examples/Monocular/TUM2.yaml /home/kylefan/catkin_ws/data/rgbd_dataset_freiburg1_room./Mono /home/kylefan/catkin_ws/src/ORB_SLAM2_KCF/Vocabulary/ORBvoc.txt /home/kylefan/catkin_ws/src/ORB_SLAM2_KCF/Examples/Monocular/TUM1.yaml启动相机：rosrun cv_camera cv_camera_node或者：cd /home/kylefan/catkin_ws/src/cv_camera/build/devel/lib/cv_camera/./cv_camera_noderos标定rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.02 image:=/cv_camera_node/image_raw camera:=/cv_camera_noderosrun camera_calibration cameracalibrator.py --size 14x8 --square 0.0245 image:=/cv_camera_node/image_raw camera:=/cv_camera_node启动turtlebot底盘roslaunch turtlebot_bringup minimal.launch --screen启动turtlebot键盘控制roslaunch turtlebot_teleop keyboard_teleop.launch --screenroslaunch kobuki_keyop keyop.launchrostopic pub  /mobile_base/commands/velocity -r 10 geometry_msgs/Twist '[0.5, 0.0, 0.0]' '[0.0, 0.0, 0.0]'rosrun lsd_slam_core live_slam /image:=/cv_camera/image_raw /camera_info:=/cv_camera/camera_infocatkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"source /home/kylefan/catkin_ws/devel/setup.bashrostopic echo -n /scan -n 3roslaunch hector_slam_launch tutorial.launch