ROS笔记-14 hector_slam with NetWorking ROS.txt

		1. Robot端时间同步
			$ sudo ntpdate tarantula7-B480.local
			
			# PC need to install ntpdate first
			sudo apt install ntpdate
			# Robot & PC time synchronization
			sudo ntpdate -u time.windows.com
			#sudo ntpdate -u durant35-Aspire-TC.local
			#sudo date -s "2016-08-15 20:53:00"

		2. Robot 启动
			$ source devel/setup.sh
			$ export ROS_HOSTNAME=durant35.local
			$ ./laserScannerConfig.sh
			$ roslaunch hector_slam_launch hector_slam.launch &
			cd ../git_ws/CarControlServer/build/
			./CarControlServer
			
http://ros-users.122217.n3.nabble.com/amcl-for-localization-td1168887.html			
	Is the robot moving?  
		The /amcl_pose data is published only on filter updates, which occur each time the robot has moved a sufficient distance.  
		The /tf data is published continuously; 
		this is where most programs look for the pose estimates produced by amcl.  To see it, try tf_echo: 
			rosrun tf tf_echo map odom
			rostopic echo /amcl_pose
			
		Robot: 
	fuser 13000/tcp -v
	kill PID
		
		3. PC 启动
		source devel/setup.sh
		#export ROS_HOSTNAME=tarantula7-B480.local
		export ROS_HOSTNAME=durant35-Aspire-TC.local
		export ROS_MASTER_URI=http://durant35.local:11311
		
		roslaunch hector_slam_example hector_hokuyo_networking.launch
		
		source devel/setup.sh
		export ROS_HOSTNAME=tarantula7-B480.local
		export ROS_MASTER_URI=http://durant35.local:11311
		rosbag record -o lab510_notf /scan
		
		source devel/setup.sh
		export ROS_HOSTNAME=tarantula7-B480.local
		export ROS_MASTER_URI=http://durant35.local:11311
		rosbag record -o lab510_withtf /scan /tf
		
		durant35@tarantula7-B480:~/Workspace/ROS/motor_driver$ source devel/setup.sh
		durant35@tarantula7-B480:~/Workspace/ROS/motor_driver$ roslaunch motor_driver_launch keyboard.launch 
		
		rosrun map_server map_saver -f lab510_0518