# 使用RPLIDAR_A2做gmapping ==學習ROS的過程是痛並快樂著==:smiley: --- ## 下載源碼 :::warning 待新增 ::: ## 新建啟動文件 :::warning 待新增 ::: ## 指令 1. 建地圖 ```javascript= roslaunch turbot_bringup minimal.launch roslaunch turbot_slam laser_gmapping_demo.launch roslaunch turbot_teleop keyboard.launch roslaunch turbot_rviz nav.launch ``` 2. 存地圖(.yaml) ```javascript= rosrun turbot_map saver {map_name} ls ~/map ``` 3. 導航 ```javascript= roslaunch turbot_bringup minimal.launch roslaunch turbot_slam laser_amcl_demo.launch map_file:=/home/nvidia/map/{map_name}.yaml roslaunch turbot_rviz nav.launch ``` --- ## TF-tree ![](https://i.imgur.com/WTr49vo.png) --- ## Gmapping build map (KOBUKI+RPLIDAR_A2) {%youtube bb0lUJ-XdZI %} --- ## Navigation (KOBUKI+RPLIDAR_A2) {%youtube b5w4fMDOWqw %}