Turtlebot+lms111+gmapping practice

Hello everyone , I meet you again , I'm your friend, Quan Jun .

1. Configuring the laser according to cartographer Configuration to If you have already run cartographer No need to configure 2. Places to be modified under the computer folder Create a new document on the desktop gmapping.launch.xml The contents of the document are as follows

Open super administrator mode sudo nautilus Paste the file into /opt/ros/kinetic/share/turtlebot_navigation/launch/includes/gmapping Under the folder

3.cartographer_ws Open folder /home/rjy/cartographer_ws/src/cartographer_turtlebot/cartographer_turtlebot/launch Put down two files ①demo_gmapping_lidar_2d.launch

②demo_gmapping_lidar.launch

stay cartograoher_ws Open the terminal to run catkin_make_isolated –install –use-ninja

4. Operation process ① Turn on the laser roslaunch turtlebot_navigation LMS1xx.launch ② function gmapping roslaunch cartographer_turtlebot demo_gmapping_lidar.launch ③ Open the keyboard roslaunch turtlebot_teleop keyboard_teleop.launch

④ preservation bag

cd bagfile rosbag record -a ⑤ Close the terminal after operation

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