#13 Ros2 foxy Cartographer & Rplidar A1m8 실행 (map save)

1. Robot control node (새 창)

cd ros2_ws
source ./install/setup.bash
ros2 launch rpi_robot_bringup rpi_robot_nostate.launch.py

 

2. joystick teleop node (새 창)

cd ros2_ws
source ./install/setup.bash
ros2 launch rpi_robot_bringup rpi_robot_joy_teleop.launch.py

=> 자동차 연결 후 실행

 

3. SLAM node (새 창)

cd ros2_ws
source ./install/setup.bash
ros2 launch rpi_robot_slam cartographer.launch.py

4. Rviz 실행 (새 창)

rviz2

일단 성공

 

5. map 저장

ros2 run nav2_map_server map_saver_cli -f ~/map

map.pgm 파일과 map.yaml파일로 저장됨

 

https://www.youtube.com/watch?v=axCvY-ANDVI