• 实操 | Implementing "slam_karto" package on a Freight robot


    1. login

    ssh fetch@<robot ip or robot name>

    2.  set robot master

    modify .bashrc in robot's computer using ssh

    export ROS_MASTER_URI=http://<robot ip or robot name>:11311
    
    export ROS_IP=<robot ip>

    modify .bashrc in local computer

    export ROS_MASTER_URI=http://<robot ip or robot name>:11311
    
    export ROS_IP=<local ip>

    3. using "rostopic list" to check ros communication

    Normally, you will see the robot's topic list on both sides.

    4. run launch file

    roslaunch slam_karto karto_slam.launch

    5. view map building in rviz

    From the local side, run "rosrun rviz rviz" or "rviz" and check the map building.

    However, I am meeting a problem here that I cannot see map is being built.

    By checking "rostopic echo /map", I find no data is published on /map.

    Solution: Replace "odom_combined" by "odom" in launch file.

     Problem: Robot Model Status Error in remote PC rviz show

    Potential reason: running nodes like rviz on both sides are limited by bandwidth

    Solution: only run nodes in the remote side

    6. navigate the robot in rviz

      To conduct the navigation by clicking in rviz like in stage_ros, there are two places to be modified.

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  • 原文地址:https://www.cnblogs.com/casperwin/p/6064556.html
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