ubuntu20.04安装slam_toolbox

在 Ubuntu 20.04 上安装 ROS 2 Galactic 版本并安装 slam_toolbox，您可以按照以下步骤操作： 1. 首先，确保您已经正确安装了 ROS 2 Galactic 版本。您可以按照 ROS 2 Galactic 的官方文档进行安装：https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html 2. 安装依赖项： ``` sudo apt-get update sudo apt-get install -y \ ros-galactic-slam-toolbox \ ros-galactic-rosbag2 \ ros-galactic-rosbag2-storage-default-plugins \ ros-galactic-nav2-core ``` 3. 编译工作区： ``` mkdir -p ~/ros2_slam_ws/src cd ~/ros2_slam_ws/src git clone https://github.com/ros-perception/slam_toolbox.git cd .. colcon build ``` 4. 激活工作区： ``` source ~/ros2_slam_ws/install/setup.bash ``` 现在，您应该已经成功安装并编译了 slam_toolbox。您可以根据 slam_toolbox 的文档和示例进行使用和测试：https://github.com/ros-perception/slam_toolbox

### SLAM Toolbox Installation and Usage for ROS Noetic For the installation of SLAM Toolbox on a system running Ubuntu 20.04 with ROS Noetic, several steps must be followed to ensure proper setup and functionality. #### Prerequisites Before installing SLAM Toolbox, it is important that ROS Noetic has been successfully installed along with necessary tools such as `rosinstall`, which can help manage multiple version-controlled packages from various sources[^3]. #### Installing SLAM Toolbox via APT Repository The simplest method involves using the official ROS package manager through the terminal: ```bash sudo apt update sudo apt install ros-noetic-slam-toolbox ``` This command installs all dependencies required by SLAM Toolbox automatically[^1]. #### Building From Source (Optional) If specific features or patches are needed not yet available in the binary release, building directly from source may be preferable. This process requires cloning the repository into an existing catkin workspace: ```bash cd ~/catkin_ws/src git clone https://github.com/SteveMacenski/slam_toolbox.git -b noetic-devel cd .. catkin_make source devel/setup.bash ``` Afterwards, compile the project within this environment. #### Running SLAM Toolbox To start mapping operations after successful installation, launch files provided by SLAM Toolbox should be utilized according to documentation guidelines. For instance, launching synchronous localization and mapping could look like this: ```bash roslaunch slam_toolbox online_async.launch ``` Or for offline map generation based on recorded data sets: ```bash roslaunch slam_toolbox offline_gmapping.launch bagfile:=<path_to_bag_file> ``` These commands assume appropriate configurations have already been set up either inside these `.launch` scripts or externally referenced configuration YAMLs[^2]. #### Configuration Adjustments Adjusting parameters might become necessary depending upon hardware specifics or desired performance characteristics. Editing relevant sections found under `/opt/ros/noetic/share/slam_toolbox/config` would allow fine-tuning options without altering core codebases.