獲取源碼

cd ~/catkin_ws/src/
git clone https://gitcode.com/weixin_42990464/wpr_simulation.git
git clone https://gitcode.com/weixin_42990464/waterplus_map_tools.git
git clone https://gitcode.com/weixin_42990464/waterplus_map_tools.git

安裝依賴項

ROS Noetic (Ubuntu 20.04)

cd ~/catkin_ws/src/wpr_simulation/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/wpb_home/wpb_home_bringup/scripts
./install_for_noetic.sh
cd ~/catkin_ws/src/waterplus_map_tools/scripts
./install_for_noetic.sh

編譯

cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

簡單場景

roslaunch wpr_simulation wpb_stage_robocup.launch

運行gmapping

rosrun gmapping slam_gmappinp

在rviz中添加機器人,map,雷達話題。

開啟鍵盤控制

rosrun wpr_simulation keyboard_vel_ctrl
#鍵盤控制WPR機器人： 
#w - 向前加速 
#s - 向后加速 
#a - 向左加速 
#d - 向右加速 
#q - 左旋加速 
#e - 右旋加速 
#空格 - 剎車 
#x - 退出 

通過launch文件來啟動gmapping

cd ~/catkin_ws/src
catkin_create_pkg slam_pkg roscpp rospy std_msgs

保存rviz配置

在slam_pkg/launch文件中新建gmapping.launch

<launch><include file="$(find wpr_simulation)/launch/wpb_stage_robocup.launch" /><node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" /><node pkg="rviz" type="rviz" name="rviz" args="-d $(find slam_pkg)/rviz/gmapping.rviz" /><node pkg="wpr_simulation" type="keyboard_vel_ctrl" name="keyboard_vel_ctrl" /></launch>

Gmapping建圖的參數設置

地圖的保存和加載

地圖保存

cd ${save_dir}
rosrun map_server map_saver -f map

地圖加載

rosrun map_server map_server map.yaml

參考

https://www.bilibili.com/video/BV1wF411Q7Q3/?spm_id_from=333.788&vd_source=667c3d14dbb51ec849c0bc7c38329d10