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직관적인느낌
WSL2 + ROS2 [Simulation_turtlebot3 - SLAM] (터틀봇3 슬램) 본문
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Simulation_turtlebot3 - SLAM(터틀봇3 슬램)
Launch Simulation World - Gazebo
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
Run SLAM Node - Rviz2
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
Run Teleoperation Node - keyboard
export TURTLEBOT3_MODEL=burger
ros2 run turtlebot3_teleop teleop_keyboard
Save Map
ros2 run nav2_map_server map_saver_cli -f ~/map
- Gazebo
- rviz2
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