MangDang Technology Mini Pupper, Руководство пользователя, Страница: 95 / 106

Mini Pupper, Release 1.0.0-alpha
3.2 Run Cartographer
You should run this command on PC If you are using gazebo, set the param /use_sim_time to true in the launch
file.
roslaunch mini_pupper slam . launch
Then you can use keyboard or joystick to control your Mini Pupper walking around and creating a map. To save the
map, run these commands below.
rosservice call /finish_trajectory 0
rosservice call /write_state "{filename:
'
${HOME}/map.pbstream
'
}"
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/map -
˓
→
pbstream_filename=${HOME}/map.pbstream -resolution=0.05
Remember to edit map.yaml</br> The first line should be
image: map . pgm
Then, copy map.pbstream, map.pgm and map.yaml files you just saved to
<your_ws>/src/minipupper_ros/mini_pupper/maps
1.1.7 Navigation
Contents
•
Navigation
– Summary
– 1. ROS1(Noetic) Navigation based on Lidar
Summary
Mini Pupper’s ROS version is based on Champ open source project, and we made some changes to Navigation functions.
1. ROS1(Noetic) Navigation based on Lidar
Before run the below steps, please confirm you already prepared all the environment in SLAM section.
1.1 Change the map file
Before running navigation, you should first change the launch file with the map you created.
roscd mini_pupper / launch
sudo gedit navigate . launch
Then change arg of the map_file and pbstream_file.
1.1. What is Mini Pupper? 91