turtlebot/rbx1/mrobot使用激光雷达/Kinect导航问题

1. 在安装好驱动，输入一下指令进行建图（以mrobot为例）

激光雷达建图

roscore
roslaunch mrobot_bringup mrobot.launch          启动小车
roslaunch rplidar_ros rplidar.launch            启动激光雷达
roslaunch mrobot_nav gmapping_demo.launch       启动gammping 
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz       启动rviz
roslaunch mrobot_nav keyboard_teleop.launch     启动键盘控制

注：若为mrobot请将 rplidar.launch中的 ttyUSB0 改为 ttyUSB1，并先插入底盘并启动底盘再启动 RPLIDAR。

Kinect建图

roscore                                     
roslaunch mrobot_bringup mrobot.launch           启动小车
roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch      启动Kinect v1
roslaunch mrobot_nav gmapping_demo.launch        启动gammping
rosrun rviz rviz -d `rospack find mrobot_nav`/gmapping.rviz        启动rviz
roslaunch mrobot_nav keyboard_teleop.launch      启动键盘控制

2. 建好图后保存地图

roscd mrobot_nav/maps 
rosrun map_server map_saver -f your_map 

3. 关闭以上终端开始导航测试

roscore
roslaunch mrobot_bringup mrobot.launch 
roslaunch rplidar_ros rplidar.launch   /   roslaunch mrobot_bringup turtlebot_fake_laser_freenect.launch
roslaunch mrobot_nav tb_demo_amcl.launch map:=your_map.yaml     加载地图
rosrun rviz rviz -d `rospack find mrobot_nav`/nav_test.rviz     运行rviz