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在ROS中末了自主机械人仿真-5让自己的机械人自主导航

上传者: ziqian0512 | 上传时间:2023/5/1 10:02:26 | 文件大小:2.33MB | 文件类型:zip
在ROS中末了自主机械人仿真-5让自己的机械人自主导航
咱们照常付与gmapping举行舆图构建,gmapping是一个ros自带的舆图构建货物包,付与激光以及里程计的数据天生二维舆图.而行使amcl举行已经知机械人的定位,amcl全称adaptiveMonteCarlolocalization,是一个机械人二维情景的概率定位体系,在已经知舆图的情景中,行使粒子滤波跟踪机械人的位姿.ROS中的amcl节点定阅激光数据sensor_msgs/LaserScan以及舆图数据nav_msgs/OccupancyGrid,患上到机械人的估量位姿.

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