turtlebot 利用cartographer 建圖

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1、假設你已經成功編譯cartographer, cartographer_ros, cartographer_turtlebot, ceres_solver
2、成功安裝雷達驅動
3、turtlebot_urg_lidar_2d.launch 裡面的內容

<launch>
<param name="urg_node/frame_id" value="plate_top_link" />
<node name="urg_node" pkg="urg_node" type="urg_node" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
<include file="$(find cartographer_turtlebot)/launch/turtlebot.launch">
<arg name="configuration_basename" value="turtlebot_urg_lidar_2d.lua" />
</include>
</launch>

4、執行

cd cartographer
source devel_isolated/setup.bash
roslaunch cartographer_turtlebot turtlebot_urg_lidar_2d.launch