修改 exploring_slam_demo.launch
<launch>
<param name="use_sim_time" value="true" />
<!-- gmapping -->
<include file="$(find mbot_navigation)/launch/gmapping.launch"/>
<!-- hector -->
<!--<include file="$(find mbot_navigation)/launch/hector.launch"/>-->
<!-- 运行move_base节点 -->
<include file="$(find mbot_navigation)/launch/move_base.launch" />
<!-- 运行rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/nav.rviz"/>
<!-- 随机探索 -->
<node pkg="mbot_navigation" type="exploring_random.py" name="exploring_random" output="screen"/>
</launch>
评论列表(2条)
使用hector角速度太快好像会建图不对的问题,之前我角速度1,建的图稀里哗啦的,后来调到0.18就正常了
线速度不能太快