gmapping建图: 1.X86板子:roslaunch orbbec_navigation ob_gmapping_4_astranh_d.launch 采集摄像头数据建图 2.PC端:rosrun rviz rviz -d navigation_with_four_camera.rviz (指定rviz配置文件) 3.PC端:roslaunch turtlebot_teleop keyboard_teleop.launch 控制turtlebot移动 4.X86:板子rosrun map_server map_saver -f /tmp/map1 保存地图 导航: 1.X86板子:roslaunch orbbec_navigation ob_amcl_4_astranh_d.launch map_file:=/tmp/map1.yaml 2.PC端:rosrun rviz rviz -d navigation_with_four_camera.rviz (指定rviz配置文件) 目录:~/catkin_ws/src/orbbec_navi/orbbec_navigation/rviz 3.PC端:roslaunch turtlebot_teleop keyboard_teleop.launch --screen 4.PC端:设定机器人起始位置和导航目标位置
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