turtlebot/rbx1/mrobot use lidar/Kinect navigation problem

1. After installing the driver, enter the following command to build a map (take mrobot as an example)

Lidar Mapping

roscore
roslaunch mrobot_bringup mrobot.launch Start the cart
roslaunch rplidar_ros rplidar.launch Launch lidar
roslaunch mrobot_nav gmapping_demo.launch       启动gammping
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz start rviz
roslaunch mrobot_nav keyboard_teleop.launch Launch keyboard control

Note: If it is mrobot, please change ttyUSB0 in rplidar.launch to ttyUSB1, and insert the chassis first and start the chassis before starting RPLIDAR.

Kinect Mapping

roscore                                     
roslaunch mrobot_bringup mrobot.launch Start the cart
roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch      启动Kinect v1
roslaunch mrobot_nav gmapping_demo.launch        启动gammping
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz start rviz
roslaunch mrobot_nav keyboard_teleop.launch Launch keyboard control

2. Save the map after building the map

roscd mrobot_nav/maps 
rosrun map_server map_saver -f your_map 

3. Close the above terminal to start the navigation test

roscore
roslaunch mrobot_bringup mrobot.launch 
roslaunch rplidar_ros rplidar.launch   /   roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch
roslaunch mrobot_nav tb_demo_amcl.launch map:=your_map.yaml load map
rosrun rviz rviz -d `rospack find mrobot_nav` / nav_test.rviz 运行 rviz