turtlebot/rbx1/mrobot使用激光雷達/Kinect導航問題

1. 在安裝好驅動，輸入一下指令進行建圖（以mrobot爲例）

激光雷達建圖

roscore
roslaunch mrobot_bringup mrobot.launch          啓動小車
roslaunch rplidar_ros rplidar.launch            啓動激光雷達
roslaunch mrobot_nav gmapping_demo.launch       啓動gammping 
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz       啓動rviz
roslaunch mrobot_nav keyboard_teleop.launch     啓動鍵盤控制

注：若爲mrobot請將 rplidar.launch中的 ttyUSB0 改爲 ttyUSB1，並先插入底盤並啓動底盤再啓動 RPLIDAR。

Kinect建圖

roscore                                     
roslaunch mrobot_bringup mrobot.launch           啓動小車
roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch      啓動Kinect v1
roslaunch mrobot_nav gmapping_demo.launch        啓動gammping
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz        啓動rviz
roslaunch mrobot_nav keyboard_teleop.launch      啓動鍵盤控制

2. 建好圖後保存地圖

roscd mrobot_nav/maps 
rosrun map_server map_saver -f your_map 

3. 關閉以上終端開始導航測試

roscore
roslaunch mrobot_bringup mrobot.launch 
roslaunch rplidar_ros rplidar.launch   /   roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch
roslaunch mrobot_nav tb_demo_amcl.launch map:=your_map.yaml     加載地圖
rosrun rviz rviz -d `rospack find mrobot_nav`/nav_test.rviz     運行rviz