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xiaoqiang tutorial (14) using rplidar A2 with gmapping


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    Xiaoqiang Homepage

    Using rplidar A2 with gmapping

    1.Start the gmapping node

    Ensure that the lidar is properly installed, and launch the gmapping launch file after ssh login the host.

    ssh xiaoqiang@192.168.XXX.XXX
    roslaunch gmapping slam_gmapping_xiaoqiang_rplidar_a2.launch
    

    Open rviz in the local virtual machine, select the slam_gmapping/gmapping/launch/rplidar_a2_test.rviz configuration file and open it in Xiaoqiang ROS directory.

    Note: Some systems can't do this. You can copy that file directly to your local computer and open it locally.

    export ROS_MASTER_URI=http://xiaoqiang-desktop:11311
    rviz
    

    0_1536825603040_1b4bcf75-4533-4722-a339-5787e629abb6-image.png

    Wait a few seconds, normal results similar to the following figure will appear.

    0_1536825625702_9328c378-e0f1-4ddf-827a-ca8191efe2dd-image.png

    2.Remote control Xiaoqiang and start to build a map

    The first way: use the windows remote control client, refer to this post

    The second way:using the ssh remote control

    ssh xiaoqiang@192.168.XXX.XXX
    rosrun nav_test control.py
    

    The third way: use mobile app, refer to this post Xiaoqiang mobile remote control app for Android

    0_1536825683715_63efe665-05cd-4256-9af0-f613a33aa6b3-image.png

    3.Save the map

    ssh login Xiaoqiang, in the Xiaoqiang home directory save the map as the beginning of work0 file.

    ssh xiaoqiang@192.168.XXX.XXX
    rosrun map_server map_saver -f work0
    

    0_1536825762493_a2f354b7-a061-4239-b711-71aec4d7da27-image.png

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