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lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

lidar_slam repository

mrobot_navigation mrobot_teleop amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation robot_pose_ekf rotate_recovery voxel_grid teb_local_planner_tutorials mrobot_bringup mrobot_description my_serial_node

ROS Distro
github

Repository Summary

Description 基于ROS-Kinetic平台搭建实物机器人两轮差速自动导航定位小车
Checkout URI https://github.com/lei01cao/lidar_slam.git
VCS Type git
VCS Version master
Last Updated 2019-08-13
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
mrobot_navigation 0.0.0
mrobot_teleop 0.0.0
amcl 1.14.4
base_local_planner 1.14.4
carrot_planner 1.14.4
clear_costmap_recovery 1.14.4
costmap_2d 1.14.4
dwa_local_planner 1.14.4
fake_localization 1.14.4
global_planner 1.14.4
map_server 1.14.4
move_base 1.14.4
move_slow_and_clear 1.14.4
nav_core 1.14.4
navfn 1.14.4
navigation 1.14.4
robot_pose_ekf 1.14.4
rotate_recovery 1.14.4
voxel_grid 1.14.4
teb_local_planner_tutorials 0.2.4
mrobot_bringup 0.0.0
mrobot_description 0.0.0
my_serial_node 0.0.0

README

LIDAR_SLAM

SYSTEM ARCH

实物展示：

  1. Stm32F103C8T6核心板和底板

  2. A4950双路电机驱动模块

  3. IMU(MPU-6050)

  4. 树莓派3B+

  5. 两轮步进电机组(减速比30 编码器精度780)

  6. 思岚A1激光雷达

  7. 小车整体

运行步骤：

一.Gmapping构建地图

Step1.PC端（master)：roscore

Step2.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch(打开激光雷达和stm32通信串口)

Step3.PC端（master):roslaunch mrobot_navigation gmapping_demo.launch

Step4.PC端（master)：roslauch mrobot_teleop mrobot_teleop.launch

启动键盘控制节点，让机器人在室内环境（例如家里房间）移动探索，完成后保存地图。

rosrun map_server map_saver -f caolei_room_map  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_start.png" title="gmapping_start" height="350" width="400"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/gmapping_finish.png" title="gmapping_finish" height="350" width="400">

二.Move_base导航路径规划

Step1.树莓派端：roslaunch mrobot_bringup mrobot_with_laser.launch

Step2.PC端（master):roslaunch mrobot_navigation nav_demo.launch

rviz界面中点击菜单栏“2D Nav Goal"按钮，在地图上任意选择一个目标点。

使用teb_local_planner,导航效果：  <img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/teb_local_planner.png" title="teb_local_planner"><img src="https://github.com/lei01cao/LIDAR_SLAM/blob/master/img/cost_map.png" title="cost_map">

参考资料：

1.ROS WIKI

2.gmapping源码：https://github.com/OpenSLAM-org/openslam_gmapping

3.ros导航包源码：https://github.com/ros-planning/navigation

4.teb_local_planner源码包：https://github.com/rst-tu-dortmund/teb_local_planner

CONTRIBUTING