Revision history [back]

Hi,

I'm using the Kobuki TB and have Cartographer working.

Once you have build then download the Turtle Bot repo from here:

https://github.com/googlecartographer/cartographer_turtlebot

And build that. I'm using a RPLIDAR A2 to so fire up the mapper I use:

roslaunch cartographer_turtlebot mxnet_turtlebot.launch configuration_basename:=mxnet_turtlebot_urg_lidar_2d.lua

(I copied turtlebot.launch and turtlebot_urg_lidar_2d.lua and prefixed them so i knew I had a base to go back to)

The other change I needed to make was to kobuki's minimal.launch and add the static publisher:

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher4" args="0 0 0.3 0 0 0 1 base_footprint gyro_link 100"/>

Hope that helps

Mark