xiaojiean / turtlebot_cartographer_movebase

turtlebot navigation in movebase, mapping in cartographer.

cartographer_turtlebot_movebase

using google cartorprapher to mapping , using move_base to navigation. control turtlebot to mapping while navigation .

##install mkdir -p catkin_ws/src cd src git clone https://github.com/zhoujoey/cartographer_turtlebot_movebase.git cd ../ catkin_make_isolated --install --use-ninja

##hardware robot: turtlebot2 lidar: hokuyo

##run

source install_isolated/setup.bash

turtlebot_navigation hokuyo_carto_turtlebot_test.launch

##changed files

1. /src/cartographer_turtlebot/cartographer_turtlebot/launch/
2. /src/cartographer_turtlebot/cartographer_turtlebot/configuration_files/
3. /src/turtlebot/turtlebot_navigation/src/foot_print.py
4. /src/turtlebot/turtlebot_navigation/launch/
5. /src/turtlebot/turtlebot_navigation/carto_nav_turtlebot.rviz