2023-12-12 19:28:37 +08:00
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# `UWB`建图指导
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2023-12-11 11:17:13 +08:00
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2023-12-12 19:28:37 +08:00
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一、代码编译和运行
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2023-12-11 11:17:13 +08:00
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2023-12-12 19:28:37 +08:00
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```shell
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# 进入工程目录
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cd Robot_ROS_Driver
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# 代码的编译
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catkin_make
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# 环境变量引入
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rosrun ros_merge_test ros_merge_test_node
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```
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2023-12-11 11:17:13 +08:00
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2023-12-12 19:28:37 +08:00
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线程在`main.cpp`中开启：
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2023-12-11 11:17:13 +08:00
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2023-12-12 19:28:37 +08:00
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<img src=".\image\main.png" alt="image-20231212192507303" style="zoom: 67%;" />
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主要功能是
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uwb接收 uwb_trd
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建图 map_trd
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保存定位数据 align_trd
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建图和保存数据需要哪个用哪个
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建图：在rosrun之后 出现的图片上按q开始建图，再按一次q停止，可以再同一幅图上重复开始和暂停
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保存数据：同样在rosrun之后出现的图片上按w开始保存 再按w停止
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