3.1 Hector_mapping初体验

1.初体验

下载依赖

sudo apt install ros-noetic-hector-mapping

构建仿真环境

roslaunch wpr_simulation wpb_stage_slam.launch 

运行SLAM

rosrun hector_mapping hector_mapping 

再新建终端

rosrun rviz rviz

注意终端管理

新建终端，打开操作杆

osrun rqt_robot_steering rqt_robot_steering 

可视化效果

2.launch启动

新建SLAM包

catkin_create_pkg slam_pkg roscpp rospy std_msgs

新建launch'文件，键入以下代码

<launch><includev file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"/>
<node pkg="rviz" type="rviz" name="rviz"/>
<node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering"/></launch>

保存后编译，并运行命令

roslaunch slam_pkg hector.launch

使用配置文件启动rviz

rosrun rviz rviz -d /home/wisdom/catkin_ws/src/slam_pkg/rviz/slam.rviz

 或者直接launch文件，增加rviz参数args

<launch><include file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find slam_pkg)/rviz/slam.rviz"/>
<node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering"/></launch>

实现一条指令实现所有平台加载对应参数启动

3.参数设置

<launch><include file="$(find wpr_simulation)/launch/wpb_stage_slam.launch"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"><param name="map_update_distance_thresh" value="0.1"/><param name="map_update_angle_thresh" value="0.1"/><param name="map_pub_period" value="0.1"/>
</node><node pkg="rviz" type="rviz" name="rviz" args="-d $(find slam_pkg)/rviz/slam.rviz"/>
<node pkg="rqt_robot_steering" type="rqt_robot_steering" name="rqt_robot_steering"/></launch>

文件结构