xiaoqiang tutorial (14) using rplidar A2 with gmapping

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Using rplidar A2 with gmapping

1.Start the gmapping node

Ensure that the lidar is properly installed, and launch the gmapping launch file after ssh login the host.

ssh xiaoqiang@192.168.XXX.XXX
roslaunch gmapping slam_gmapping_xiaoqiang_rplidar_a2.launch

Open rviz in the local virtual machine, select the slam_gmapping/gmapping/launch/rplidar_a2_test.rviz configuration file and open it in Xiaoqiang ROS directory.

Note: Some systems can't do this. You can copy that file directly to your local computer and open it locally.

export ROS_MASTER_URI=http://xiaoqiang-desktop:11311
rviz

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Wait a few seconds, normal results similar to the following figure will appear.

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2.Remote control Xiaoqiang and start to build a map

The first way: use the windows remote control client, refer to this post

The second way:using the ssh remote control

ssh xiaoqiang@192.168.XXX.XXX
rosrun nav_test control.py

The third way: use mobile app, refer to this post Xiaoqiang mobile remote control app for Android

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3.Save the map

ssh login Xiaoqiang, in the Xiaoqiang home directory save the map as the beginning of work0 file.

ssh xiaoqiang@192.168.XXX.XXX
rosrun map_server map_saver -f work0

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