ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jdj2261/erp42-ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-10-10 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- djjin
Authors
erp42_slam
This is a slam package using the ros open package.
It consists of erp42_cartographer and erp42_gmapping launch file
Please refer to here to create a separate Cartographer workspace.
Usage
If you want to use the Cartographer package,
first, source cartographer workspace
$ cd cartographer_ws
$ source install_isolated/setup.bash
After that, enter the following command to execute.
roslaunch erp42_slam erp42_cartographer.launch
If you want to use the Gmapping package,
roslaunch erp42_slam erp42_gmapping.launch
You need a teleop keyboard to move the robot.
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
When the map is finished,
rosrun map_server map_saver -f map_name
Demo
You can test the slam in the Gazebo environment.
Demo Cartographer,
roslaunch erp42_vehicle_gazebo erp42_vehicle_gazebo.launch
roslaunch erp42_slam erp42_cartographer.launch
Demo Gmapping,
roslaunch erp42_vehicle_gazebo erp42_vehicle_gazebo.launch
roslaunch erp42_slam erp42_gmapping.launch
Wiki Tutorials
Launch files
- 2d_slam/launch/erp42_cartographer.launch
-
- open_rviz [default: true]
- set_base_frame [default: base_link]
- set_odom_frame [default: odom]
- set_map_frame [default: map]
- scan_topic [default: /scan]
- configuration_basename [default: erp42_cartographer_2d.lua]
- 2d_slam/launch/erp42_gmapping.launch
-
- open_rviz [default: true]
- set_base_frame [default: base_link]
- set_odom_frame [default: odom]
- set_map_frame [default: map]
- scan_topic [default: /scan]