Ailibot2仿真入门教程-建图-边建图边导航

 目录：

• Ailibot2仿真入门教程-环境配置
• Ailibot2仿真入门教程-gazebo-设计简单的gazebo场景
• Ailibot2仿真入门教程-gazebo-使用gazebo插件生成场景的截面地图
• Ailibot2仿真入门教程-gazebo-加载gazebo场景
• Ailibot2仿真入门教程-加载Ailibot2的URDF模型到gazebo
• Ailibot2仿真入门教程-加载Ailibot2的SDF模型到gazebo
• Ailibot2仿真入门教程-利用robot_localization融合里程和IMU数据
• Ailibot2仿真入门教程-控制-键盘控制
• Ailibot2仿真入门教程-建图-gmapping建图
• Ailibot2仿真入门教程-建图-slam_toolbox建图
• Ailibot2仿真入门教程-建图-cartographer建图

文章说明

• 本教程主要介绍Ailibot2在gazebo仿真中进行边建图边导航的操作流程

操作步骤

• 启动gazebo仿真，加载Ailibot2模型

$ ros2 launch ailibot2_bringup robot_sim.launch.py

• 启动建图节点

$ ros2 launch ailibot2_slam gmapping.launch.py

• 启动导航节点

$ ros2 launch ailibot2_nav navigate_with_slam.launch.py

• 在rviz中，点击上方工具栏的Nav2 Goal按钮，选择目标点开始移动建图