目录
- ROS2与Ailibot2入门教程-目录
- ROS2与Ailibot2入门教程-硬件
- ROS2与Ailibot2入门教程-软件
- ROS2与Ailibot2入门教程-系统安装
- ROS2与Ailibot2入门教程-软件安装
- ROS2与Ailibot2入门教程-测试雷达
- ROS2与Ailibot2入门教程-测试底盘
- ROS2与Ailibot2入门教程-控制-简版键盘控制
- ROS2与Ailibot2入门教程-控制-键盘控制
- ROS2与Ailibot2入门教程-建图-cartographer建图
- ROS2与Ailibot2入门教程-导航-单点导航
- ROS2与Ailibot2入门教程-控制-多点导航
- ROS2与Ailibot2入门教程-建图-slam-toolbox建图
- ROS2与Ailibot2入门教程-建图-gmapping建图
- ROS2与Ailibot2入门教程-实验-障碍检测
- ROS2与Ailibot2入门教程-升级-固件升级
- ROS2与Ailibot2入门教程-校准-PID校准
- ROS2与Ailibot2入门教程-校准-线速度校准
- ROS2与Ailibot2入门教程-校准-角速度校准
- ROS2与Ailibot2入门教程-校准-IMU校准
- ROS2与Ailibot2入门教程-利用webrtc查看小车摄像头并控制小车移动
- ROS2与Ailibot2入门教程-导航-边建图边导航
- ROS2与Ailibot2入门教程-通过ChatGPT来控制小车移动
- ROS2与Ailibot2入门教程-利用安卓手机APP控制小车
- ROS2与Ailibot2入门教程-测试-测试oak相机
说明：
- 介绍如何实现边建图边导航
相关设备：
- ailibot2差速系列：采购Ailibot2-D2,采购Ailibot2-D4
- ailibot2全向系列：采购Ailibot2-M4，采购Ailibot2-O3，采购Ailibot2-O4
步骤：
- 小车端，启动底盘
ros2 launch ailibot2_bringup agent.launch.py- 小车端，启动雷达
ros2 launch ailibot2_bringup laser.launch.py- PC端，启动发布odom
ros2 launch ailibot2_bringup robot.launch.py- PC端，启动发布其中一种建图算法
#cartographer
ros2 launch ailibot2_slam cartographer.launch.py
#slam_toolbox
ros2 launch ailibot2_slam slam_toolbox.launch.py
#gmapping
ros2 launch ailibot2_slam gmapping.launch.py- PC端，启动发布导航
ros2 launch ailibot2_nav navigate_with_slam.launch.py- 在rviz上指定目标点
- 小车自主导航到目标点
- 效果如图:
- PC端，保存地图
ros2 run nav2_map_server map_saver_cli -f ~/map
