LIDAR_SLAM

实物展示：

1. Stm32F103C8T6核心板和底板

   

2. A4950双路电机驱动模块

   

3. IMU(MPU-6050)

   

4. 树莓派3B+

   

5. 两轮步进电机组(减速比30 编码器精度780)

   

6. 思岚A1激光雷达

   

7. 小车整体

   

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner