gmapping 功能包与hector_slam 功能包实现 SLAM 仿真

gmapping 功能包、hector_slam 功能包实现 SLAM 仿真

一、gmapping 功能包实现SLAM仿真

1. 进入ros环境
   

2. 配置gmapping相关节点

   

3.运行相关mbot_laser_nav_gazebo.launch文件

roslaunch  mbot_gazebo mbot_laser_nav_gazebo.launch

4. 运行gmapping_demo.launch文件，运行rviz查看机器人相关视角激光扫描图像（激光雷达）

roslaunch mbot_navigation gmapping_demo.launch

5.运行mbot_teleop.launch文件，通过键盘控制小车运动

roslaunch mbot_teleop  mbot_teleop.launch

由下图可知，小车运动后激光扫描图片也发生了变化：

6.运行命令，保存扫描地图到指定位置

rosrun map\_server map\_saver -f/home/luxiaolu/catkin\_ws/src/mbot\_navigation/maps/cloister\_gmapping

由图像可知，该图片确实为小车移动后扫描图像的图片

7. 运行 mbot_kinect_nav_gazebo.launch 文件

roslaunch  mbot_gazebo mbot_kinect_nav_gazebo.launch

二、使用hector_slam 功能包实现 SLAM 仿真

1.安装hector_slam包

sudo apt-get install ros-kinetic-hector-slam

2.配置hector_mapping节点

3. 运行 mbot_laser_nav_gazebo.launch 文件

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

4.运行hector_demo.launch文件

roslaunch mbot_navigation hector_demo.launch

5.运行mbot_teleop.launch文件，键盘控制小车移动

roslaunch mbot_teleop mbot_teleopp.launch

6.通过命令保存扫描的地图

rosrun map\_server map\_saver -f/home/luxiaolu/catkin\_ws/src/mbot\_navigation/maps/cloister\_gmapping1

由截图可知，保存的图片即为机器人扫描图片

7.运行mbot_laser_nav_gazebo.launch 文件

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

8. 运行nav_cloister_demo.launch文件

roslaunch mbot_navigation nav_cloister_demo.launch

9.点击选项2D Naw Goal,使小车自己运动

10.运行mbot_laser_nav_gazebo.launch 文件

roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch

11.运行exploring_slam_demo.launch文件

roslaunch mbot_navigation exploring_slam_demo.launch

12.点击选项2D Naw Goal,利用鼠标箭头指向使小车自己运动

总结

1.在运行相关launch文件时如果出现，文件不存在的问题，可以通过source devel/setup.bash命令进行文件注册，或重新输入命令解决
2. 在hector_slam过程中，会因为小车加速等原因发生打滑现象