シミュレータ環境でSLAMとNavigationを実行 #77
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2 tasks
ShotaAk
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Feb 22, 2024
README.md
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| 端末2で次のコマンドを実行すると、Navigationが実行されます。 | ||
| ```sh | ||
| ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml |
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コピペでコマンドを実行できるように、下記に変更お願いします。
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| ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml | |
| ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml |
README.md
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| ```sh | ||
| ros2 launch raspimouse_navigation pc_navigation.launch.py map:=/path/to/MAP_NAME.yaml | ||
| ``` | ||
| `map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 |
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下記のように修正してください
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| `map:=/path/to/MAP_NAME.yaml`はSLAMで作成した地図ファイルのパスを指定してください。 | |
| 引数`map`にはSLAMで作成した地図ファイルのパスを指定してください。 |
| @@ -0,0 +1,48 @@ | |||
| # The MIT License (MIT) | |||
| # | |||
| # Copyright 2023 RT Corporation <support@rt-net.jp> | |||
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| # Copyright 2023 RT Corporation <support@rt-net.jp> | |
| # Copyright 2024 RT Corporation <support@rt-net.jp> |
Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
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What does this implement/fix?
Gazebo上でSLAMとNavigationを実行できるように変更します。
Does this close any currently open issues?
しません。
How has this been tested?
SLAMの動作確認
lidarは"urg"、"lds"、"rplidar"のうちいずれかを指定
ジョイスティックコントローラで操作
ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=falseSLAMを実行
十分走らせて地図を作成したら、次のコマンドで地図を保存
ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAMENavigationの動作確認
lidarは"urg"、"lds"、"rplidar"のうちいずれかを指定
ナビゲーションを実行（マップのパスを指定）
Any other comments?
raspimouse_descriptionパッケージのadd-slam-navigationブランチが必要です。
rt-net/raspimouse_description#52
raspimouse_slam_navigation_ros2パッケージも必要です。
https://github.com/rt-net/raspimouse_slam_navigation_ros2
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