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.
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 control2. Save the map after building the map
roscd mrobot_nav/maps rosrun map_server map_saver -f your_map3. 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