第一步製圖：
1. $ roscore
2. $ roslaunch drrobot_jaguar4x4_playerplayer+odom.launch and control the robotuse joy_stick to test the robot is work well
3. power on the velodyne vlp-16 laser andtest the network is ok;
* *you need replace the velodyne host IDwith your computer ID.
4. $roslaunch velodyne_drivervlp16_2D.launch ,and test the laser data is published ok
5. $rosbag record -a
6. $roslaunch map_and_localization gmapping_bag.launch
7. $rosbag play mybag --rate 0.5
8. rosrun map_server map_saver -f mymap
If there are some questions, eg : thevelodyne can not convergence
catkin_make -DCMAKE_BUILD_TYPE=Release
and edit the gmapping_bag.launch
<param name="linearUpdate"value="1.0"/>
<param name="angularUpdate"value="0.6"/>
<param name="particles"value="30"/>
機器人常用的環境地圖模型主要有特徵地圖、柵格地圖、拓撲地圖和混合地圖。
第二步導航navigation：
0. $ sudo apt-get installros-jade-navigation
1. $roscore
2. $ roslaunchdrrobot_jaguar4x4_player player+odom.launch and control the robot use joy_stick to testthe robot is work well
3. $roslaunch velodyne_drivervlp16_2D.launch ,and test the laser data is published ok
4. $rosrun map_server map_server src/map_and_localization/maps/office.yaml
5. $rviz -d map_and_localization.rviz //add the addres of map_and_localization.rviz
6. $roslaunch map_and_localization amcl.launch
// if static navigation
$roslaunch static_navigation static_navigation.lauch and you need to edit nodes.txt and edges.txt
rostopic echo /robot_pose you need to cope the robot pose into nodes.txt
// else dynamicnavigation
$roslaunch ros_navigation ros_navigation.lauch