高级教程（ROS2）--slam_toolbox建图

hawkbot

手工命令行模式：
打开新的终端，输入命令：

ubuntu@Ubuntu-Ros2:~/ros2_ws$ ros2 launch hawkbot online_async_launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2026-06-18-10-21-08-555786-Ubuntu-Ros2-30040
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [30059]
[INFO] [async_slam_toolbox_node-2]: process started with pid [30060]
[async_slam_toolbox_node-2] [INFO] [1781749268.833129282] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-2] [INFO] [1781749269.147355073] [slam_toolbox]: Configuring
[async_slam_toolbox_node-2] [INFO] [1781749269.586847919] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-2] [INFO] [1781749269.588033726] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[INFO] [launch.user]: [LifecycleLaunch] Slamtoolbox node is activating.
[async_slam_toolbox_node-2] [INFO] [1781749269.912713795] [slam_toolbox]: Activating
[rviz2-1] [INFO] [1781749270.030243675] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1781749270.030380195] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[rviz2-1] [INFO] [1781749270.102462483] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1781749270.803957711] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [rviz2-1]: process has finished cleanly [pid 30059]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[async_slam_toolbox_node-2] [INFO] [1781749290.844084166] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [async_slam_toolbox_node-2]: process has finished cleanly [pid 30060]


此时节点正在启动，终端会输出启动信息，等待出现下图启动完成界面。




使用手柄或者键盘移动小车运行，会逐步完善地图形状。小车转弯要尽量慢，转弯后，可以稍微停顿一下，等待地图更新，这样才可以保证地图的精确度。
控制小车把房间跑一遍，小车跑动的过程中，会自动记录障碍物，地图上黑色的就是障碍物。当地图形状和真实房间形状吻合后，就可以查看下一章节，进行地图的保存。

wangjuan

ros2我启动以后怎么没有手柄控制的按钮