cartographer导航
时间: 2023-09-04 17:14:42 浏览: 68
要在ROS中使用Cartographer导航,首先需要安装Cartographer和Cartographer ROS。Cartographer是用来执行SLAM(Simultaneous Localization and Mapping)任务的算法库,而Cartographer ROS是一个ROS功能包,用于调用Cartographer算法。
首先,确保已经安装了Ceres Solver和Protobuf。这两个库是Cartographer的依赖项。
然后,使用以下命令安装Cartographer和Cartographer ROS:
```
sudo apt-get install ros-$ROS_DISTRO-cartographer
sudo apt-get install ros-$ROS_DISTRO-cartographer-ros
```
安装完成后,可以在ROS中使用Cartographer导航。首先,需要启动Cartographer SLAM节点,使用以下命令:
```
roslaunch cartographer_ros cartographer.launch
```
这将启动Cartographer SLAM节点,开始执行SLAM任务,并发布地图。
接下来,可以启动Cartographer Occupancy Grid节点,使用以下命令:
```
roslaunch cartographer_ros cartographer_occupancy_grid.launch
```
这将订阅来自Cartographer SLAM节点的地图信息,并将其发布为占据栅格地图。
现在,你可以使用导航功能包(如move_base)来进行导航。设置导航目标,并使用相应的导航命令,机器人将会根据Cartographer生成的地图进行导航。
总结来说,要在ROS中使用Cartographer导航,首先要安装Cartographer和Cartographer ROS,然后启动Cartographer SLAM节点和Cartographer Occupancy Grid节点,最后使用导航功能包进行导航。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
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