建图（gmapping ,cartographer）+导航(amcl) 启动步骤

/************gmapping 建图 + 导航****************************

建图：(gmapping)

下载以配置好的turtlebotapps应用包（turtlebot+hokuyo 平台）：

链接: https://pan.baidu.com/s/1LfzWtQ_bCO5bgH6ZBGAbWQ 提取码: s4rs 复制这段内容后打开百度网盘手机App，操作更方便哦

http://download.csdn.net/download/v7xyy/10227870

启动：

roscore
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation hokuyo_gmapping_demo.launch
roslaunch turtlebot_teleop keyboard_teleop.launch 
roslaunch turtlebot_rviz_launchers view_navigation.launch
rosrun map_server map_saver -f map/my_gmap11

 

导航 ：（navigation）

 

给gm11.pgm    gm11.yaml最高权限  并在gm11.yaml 前加/home/xx/map/gm11.pgm
在amcl_demo.launch加下面
 

 

启动：

 

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/xx/map/gm11.yaml
roslaunch turtlebot_rviz_launchers view_navigation.launch

/**************************cartographer 建图 + 导航 *****************/

启动 ： 

roscore
rosrun hokuyo_node hokuyo_node 
source install_isolated/setup.bash 
roslaunch cartographer_ros demo_revo_lds.launch 
rosrun map_server map_saver -f map/mymap

导航 ：

给mymap.pgm   mymap.yaml最高权限  并在mymap.yaml 前加/home/xx/map/mymap.pgm

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/xx/map/mymap.yaml
roslaunch turtlebot_rviz_launchers view_navigation.launch