说明
介绍如何在Ailibot上进行cartographer pure localization 自定位
操作步骤
[Remote PC] 运行roscore
$ roscore
[Ailibot] 启动小车
$ roslaunch ailibot_bringup bringup.launch
[Remote PC] 运行cartographer建图程序
$ roslaunch ailibot_slam cartographer.launch
[Remote PC] 启动Rviz
$ roslaunch ailibot_rviz view_slam_cartographer.launch --screen
[Remote PC] 启动键盘控制
$ roslaunch ailibot_teleop keyboard.launch
移动小车进行建图
[Remote PC] 保存为pbstream格式的地图
$ rosservice call /finish_trajectory 0
//若根目录下没有map文件夹，则需要重新创建map文件夹
$ mkdir ~/map && cd ~/map
$ rosservice call /write_state "{filename: '${HOME}/map/cartographer-localization.pbstream'}"
cartographer-localization.pbstream 在 ~/map 目录下里创建
保存完地图后中止以上命令，再重启roscore和启动小车
[Remote PC] 运行cartographer_localization程序
$ roslaunch ailibot_slam cartographer_localization.launch load_state_filename:=${HOME}/map/cartographer-localization.pbstream
[Remote PC] 启动Rviz
$ roslaunch ailibot_rviz view_slam_cartographer.launch --screen
[Remote PC] 启动键盘控制
$ roslaunch ailibot_teleop keyboard.launch
可以尝试将小车搬离到其他地方，再移动一下小车，可以发现小车的位置已匹配到地图上的相应位置
演示视频