slam_sim_demo

SLAM演示功能包，本演示包包含以下内容：

• gmapping_demo: gmapping SLAM演示
• karto_demo: karto SLAM演示
• hector_demo: hector SLAM演示
• cartographer_demo: Google catographer演示

gmapping示例运行方法

首先运行gazebo仿真场景

$ roslaunch robot_sim_demo robot_spawn.launch

然后运行键盘控制程序

$ rosrun robot_sim_demo robot_keyboard_teleop.py

再运行建图程序gmapping

$ roslaunch slam_sim_demo gmapping_demo.launch

最后，启动rviz可视化工具，这里已经添加了一些必须模块，如LaserScan，Map等等

$ roslaunch slam_sim_demo view_slam.launch

然后用键盘控制小车运动，就能在rviz上看到地图的建立过程

karto示例运行方法

与gmapping启动方法类似

roslaunch robot_sim_demo robot_spawn.launch
rosrun robot_sim_demo robot_keyboard_teleop.py
roslaunch slam_sim_demo karto_demo.launch
roslaunch slam_sim_demo view_slam.launch

hector示例运行方法

roslaunch robot_sim_demo robot_spawn.launch
rosrun robot_sim_demo robot_keyboard_teleop.py
roslaunch slam_sim_demo hector_demo.launch
roslaunch slam_sim_demo view_slam.launch

cartopgrapher示例运行方法

本demo需要安装cartographer和cartographer-ros，仅供测试使用

roslaunch robot_sim_demo robot_spawn.launch
rosrun robot_sim_demo robot_keyboard_teleop.py
roslaunch slam_sim_demo cartographer_demo.launch
roslaunch slam_sim_demo view_slam.launch

注意事项

如果gazebo出现错误，比如无法查看摄像头换面，你需要升级gazebo到gazebo7及以上版本:

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7