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https://github.com/pinto0309/zumo32u4
Zumo32u4(ATmega32u4) + RaspberryPi3(RaspberryPi) + SLAM(CartoGrapher/Gmapping) + RPLiDAR A1M8
https://github.com/pinto0309/zumo32u4
arduino atmega32u4 cartographer gmapping-slam kinetic lidar raspberry-pi raspberrypi ros rplidar rviz slam zumo32u4
Last synced: 3 months ago
JSON representation
Zumo32u4(ATmega32u4) + RaspberryPi3(RaspberryPi) + SLAM(CartoGrapher/Gmapping) + RPLiDAR A1M8
- Host: GitHub
- URL: https://github.com/pinto0309/zumo32u4
- Owner: PINTO0309
- License: mit
- Created: 2018-05-05T08:44:20.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2018-07-10T04:06:10.000Z (over 6 years ago)
- Last Synced: 2024-10-03T13:11:35.594Z (4 months ago)
- Topics: arduino, atmega32u4, cartographer, gmapping-slam, kinetic, lidar, raspberry-pi, raspberrypi, ros, rplidar, rviz, slam, zumo32u4
- Language: Python
- Homepage: https://qiita.com/PINTO
- Size: 22.2 MB
- Stars: 21
- Watchers: 4
- Forks: 5
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# zumo32u4 (Assembled with 100:1 HP Motors)
**SLAM by RaspberryPi3 + Zumo32u4 + RPLidarA1M8**
Construction of GMapping environment or GoogleCartoGrapher environment using Zumo 32u4.
【Japanese article **Gmapping**】 https://qiita.com/PINTO/items/9aa737c284dc4e8212f1
【Japanese article **Google CartoGrapher-01**】 https://qiita.com/PINTO/items/4845c438cac05eda4d1e
【Japanese article **Google CartoGrapher-02**】 https://qiita.com/PINTO/items/fb0d44b2bb9455800667
【Japanese article **Google CartoGrapher-03**】 https://qiita.com/PINTO/items/d8fd7a91ee00df7702b7
【Japanese article **Google CartoGrapher-04**】 https://qiita.com/PINTO/items/f8fa5d6ce55317ea590b
**＜Gmapping＞**
**＜Google CartoGrapher＞**
No odometry and no IMU
Use 2D LiDAR only
With odometry and IMU and 2D LiDAR
## ◆ Change log
2018.05.05 Ver 0.1.0 Under development
2018.05.12 Ver 1.0.0 First Release
2018.06.10 Ver 1.0.1 Bug fix. Maintenance continues for Readme.
## ◆ Environment
1. Zumo32u4 (ATmega32u4 Assembled with 100:1 HP Motors)
2. RaspberryPi3 (Raspbian Stretch + ROS kinetic)
3. RPLidar A1M8 (SDK ver 1.5.7 / Firmware ver 1.20)
4. Python2.7
5. C++
6. ROS kinetic
7. Working PC1 (Ubuntu16.04 + ROS kinetic + ArduinoIDE 1.8.5)
8. Working PC2 (Windows10 + TeraTerm)
## ◆ Procedure for environment building (Common procedure between GMapping and Google CartoGrapher)
### **Perform work with Ubuntu16.04**
1. Execute below
```
$ export ROS_MASTER_URI=http://raspberrypi.local:11311/
OR
$ export ROS_MASTER_URI=http://:11311/
```
### **Perform work with RaspberryPi3 (Raspbian Stretch)**
2. Introduction of navigation package. Execute below.
```
$ sudo apt update;sudo apt upgrade
$ sudo apt install -y libbullet-dev libsdl-dev libsdl2-2.0 \
libsdl2-dev libsdl-image1.2-dev libyaml-cpp0.3-dev libyaml-cpp0.3v5
$ cd ~
$ sudo apt install cmake-curses-gui
$ git clone -b debian/kinetic/bfl https://github.com/PINTO0309/bfl-release.git
$ cd bfl-release;mkdir build;cd build
$ ccmake ..
```
3. Press the "c" key
4. Wait about 30 seconds
5. Press the "e" key
6. Set as shown below
7. Introduction of navigation package. Execute below.
```
$ make -j3
$ sudo make install
$ cd ~
$ sudo apt install -y liborocos-kdl-dev liborocos-kdl1.3 libflann1.9 libflann-dev \
libpcl-apps1.8 libpcl-common1.8 libpcl-dev libpcl-doc libpcl-features1.8 \
libpcl-filters1.8 libpcl-io1.8 libpcl-kdtree1.8 libpcl-keypoints1.8 libpcl-ml1.8 \
libpcl-octree1.8 libpcl-outofcore1.8 libpcl-people1.8 libpcl-recognition1.8 \
libpcl-registration1.8 libpcl-sample-consensus1.8 libpcl-search1.8 \
libpcl-segmentation1.8 libpcl-stereo1.8 libpcl-surface1.8 libpcl-tracking1.8 \
libpcl-visualization1.8 pcl-tools libvtk6-dev libvtk6-java libvtk6-jni \
libvtk6-qt-dev libvtk6.3 libvtk6.3-qt python-vtk6 tcl-vtk6 vtk6 vtk6-doc \
vtk6-examples libpoco-dev libpococrypto46 libpocodata46 libpocodatamysql46 \
libpocodataodbc46 libpocodatasqlite46 libpocofoundation46 libpocomongodb46 \
libpoconet46 libpoconetssl46 libpocoutil46 libpocoxml46 libpocozip46
$ cd /
$ sudo wget https://github.com/PINTO0309/uEye_4.90.0_Linux_Arm64hf/raw/master/uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo tar -xzvf uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo rm uEye_4.90.0_Linux_Arm64hf.tgz
$ sudo /usr/local/share/ueye/bin/ueyesdk-setup.sh
$ sudo nano /etc/dphys-swapfile
CONF_SWAPSIZE=2048
$ sudo /etc/init.d/dphys-swapfile restart swapon -s
$ export CMAKE_PREFIX_PATH=/opt/ros/kinetic:/home/pi/catkin_ws/devel:/home/pi/catkin_ws/install
$ cd ~/catkin_ws/src
$ git clone -b kinetic-devel https://github.com/PINTO0309/geometry2.git; \
git clone https://github.com/PINTO0309/dynamic_reconfigure.git; \
git clone https://github.com/PINTO0309/laser_geometry.git; \
git clone https://github.com/PINTO0309/navigation_msgs.git; \
git clone https://github.com/PINTO0309/perception_pcl.git; \
git clone https://github.com/PINTO0309/pcl_msgs.git; \
git clone https://github.com/PINTO0309/nodelet_core.git; \
git clone https://github.com/PINTO0309/bond_core.git; \
git clone -b kinetic-devel https://github.com/PINTO0309/pluginlib.git; \
git clone https://github.com/PINTO0309/class_loader.git; \
git clone https://github.com/PINTO0309/image_common.git; \
git clone https://github.com/PINTO0309/vision_opencv.git; \
git clone https://github.com/PINTO0309/geometry.git; \
git clone https://github.com/PINTO0309/roslint.git; \
git clone https://github.com/PINTO0309/navigation.git
$ cd ..
$ catkin_make -j1
$ sudo reboot
```
8. Introduction of openslam_gmapping package and slam_gmapping meta package. Execute below.
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/openslam_gmapping.git
$ git clone https://github.com/PINTO0309/slam_gmapping.git
$ cd ..
$ catkin_make -j1
```
9. Introduction of RPLidarROS package. Execute below.
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/rplidar_ros.git
$ cd ..
$ catkin_make
```
### **Perform work with Ubuntu16.04**
10. Introduction of rviz option package. Execute below.
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/visualization_tutorials.git
$ git clone https://github.com/PINTO0309/joint_state_publisher.git
$ git clone https://github.com/PINTO0309/robot_state_publisher.git
$ catkin_make
```
11. Remodel the rosserial library. Execute below.
```
$ cd /home//Arduino/libraries/Rosserial_Arduino_Library/src
$ cp ros.h BK_ros.h
$ sudo nano ros.h
#else
typedef NodeHandle_ NodeHandle;
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/zumo32u4.git
```
12. After connecting Ubuntu and Arduino via a microUSB cable, open zumo32u4/zumo32u4arduino.ino in ArduinoIDE in the set of programs cloned above.
13. Write a sketch to Arduino with "→" button of ArduinoIDE.
### **Perform work with RaspberryPi3 (Raspbian Stretch)**
14. Execute below.
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/zumo32u4.git
$ cd ..
$ catkin_make
```
## ◆ Introduction of Google CartoGrapher
### **Perform work with Ubuntu16.04**
1. Execute below.
```
$ sudo apt update
$ sudo apt install -y python-wstool python-rosdep ninja-build
$ cd catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
$ wstool update -t src
$ src/cartographer/scripts/install_proto3.sh
$ sudo rosdep init #<--- Ignoring an error
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash
```
### **Perform work with RaspberryPi3 (Raspbian Stretch)**
2. Execute below.
```
$ sudo apt update;sudo apt upgrade
$ sudo apt install -y python-wstool python-rosdep ninja-build
$ cd catkin_ws
$ wstool init src
$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
$ wstool update -t src
$ src/cartographer/scripts/install_proto3.sh
$ sudo rosdep init #<--- Ignoring an error
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
```
3. Execute below.
```
$ sudo nano /etc/dphys-swapfile
CONF_SWAPSIZE=2048
$ sudo /etc/init.d/dphys-swapfile restart swapon -s
$ sudo apt install libsuitesparse-dev libsuitesparseconfig4 libcxsparse3 \
libmetis-dev libmetis5 libmetis5-dbg metis libtbb-dev libtbb2 lua-bit32 \
lua-bit32-dev liblua5.3-0 liblua5.3-0-dbg liblua5.3-dev lua5.3 sphinx-common \
liburdfdom-tools libogre-1.9.0v5 ogre-1.9-tools libogre-1.9-dev \
assimp-utils libassimp3v5 python-pyassimp libassimp-dev \
qt3d-assimpsceneio-plugin sip-dev librviz-dev librviz2d python-rviz rviz
$ cd src
$ git clone https://github.com/PINTO0309/urdf.git
$ git clone https://github.com/PINTO0309/urdfdom_headers.git
$ git clone https://github.com/PINTO0309/rosconsole_bridge.git
$ cd urdfdom_headers
$ mkdir build && cd build && cmake ../ && make && sudo make install
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/urdfdom.git
$ cd urdfdom
$ mkdir build && cd build && cmake ../ && make && sudo make install
$ cd ~/catkin_ws/src
$ git clone https://github.com/PINTO0309/interactive_markers.git
$ git clone https://github.com/PINTO0309/python_qt_binding.git
$ git clone https://github.com/PINTO0309/resource_retriever.git
$ git clone https://github.com/PINTO0309/robot_state_publisher.git
$ git clone https://github.com/PINTO0309/kdl_parser.git
$ git clone https://github.com/PINTO0309/rplidar_ros.git
$ git clone https://github.com/PINTO0309/rosserial.git
$ git clone https://github.com/PINTO0309/zumo32u4.git
$ cd ~
$ git clone https://github.com/PINTO0309/pybindgen.git
$ cd pybindgen
$ sudo python setup.py install
$ cd ~/catkin_ws/src/cartographer_ros
$ rm -r -f cartographer_rviz
$ cd ~/catkin_ws
$ catkin_make_isolated -j1 --install --use-ninja
$ source install_isolated/setup.bash
```
### **Perform work with Ubuntu16.04**
4. Execute below.
```
$ cd ~/catkin_ws/src/zumo32u4/urdf
$ cp zumo32u4.STL ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ cp zumo32u4.gv ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ cp zumo32u4.urdf ~/catkin_ws/install_isolated/share/cartographer_ros/urdf
$ nano ~/catkin_ws/install_isolated/share/cartographer_ros/urdf/zumo32u4.urdf
```
```
```
5. Execute below.
```
$ nano ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch/backpack_2d.launch
```
```
```
6. Execute below.
```
$ nano ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files/demo_2d.rviz
```
```
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Submaps1
- /PointCloud21
- /Map1
Splitter Ratio: 0.600670993
Tree Height: 322
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame:
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
horizontal_laser_link:
Value: true
map:
Value: true
odom:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
base_link:
horizontal_laser_link:
{}
odom:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
map:
Alpha: 1
Show Axes: false
Show Trail: false
odom:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: Submaps
Enabled: true
Fade-out distance: 1
High Resolution: true
Low Resolution: false
Name: Submaps
Submap query service: /submap_query
Submaps:
All: true
Trajectory 0:
0.43: true
Value: true
Topic: /submap_list
Tracking frame: base_link
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0500000007
Style: Flat Squares
Topic: /scan_matched_points2
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /trajectory_node_list
Name: Trajectories
Namespaces:
Trajectory 0: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /landmark_poses_list
Name: Landmark Poses
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /constraint_list
Name: Constraints
Namespaces:
Inter constraints, different trajectories: true
Inter constraints, same trajectory: true
Inter residuals, different trajectories: true
Inter residuals, same trajectory: true
Intra constraints: true
Intra residuals: true
Queue Size: 100
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 100; 100; 100
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Angle: 0
Class: rviz/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Scale: 92.3554459
Target Frame:
Value: TopDownOrtho (rviz)
X: 0.837544441
Y: 1.4433645
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 848
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001c5000002c6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000183000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001b10000013d0000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003efc0100000002fb0000000800540069006d00650100000000000005ff0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000434000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1535
X: 55
Y: 14
```
7. Execute below.
```
$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash
```
### **Perform work with RaspberryPi3 (Raspbian Stretch)**
8. Execute below.
```
$ cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/launch
$ cp backpack_2d.launch BK_backpack_2d.launch
$ nano backpack_2d.launch
```
```
```
9. Execute below.
```
$ cd ~/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files
$ cp backpack_2d.lua BK_backpack_2d.lua
$ nano backpack_2d.lua
```
```
include "map_builder.lua"
include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = true,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 1,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1.,
fixed_frame_pose_sampling_ratio = 1.,
imu_sampling_ratio = 1.,
landmarks_sampling_ratio = 1.,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.min_range = 0.
TRAJECTORY_BUILDER_2D.max_range = 20.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e5
POSE_GRAPH.optimization_problem.huber_scale = 1e3
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 10
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 40
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 120
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.1
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
return options
```
10. Execute below.
```
$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash
```
## ◆ Execution and visualization of map generation by RaspberryPi + Arduino + RPLidar A1M8 + Google CartoGrapher
### **Perform work with RaspberryPi3 (Raspbian Stretch)**
**Terminal-1**
```
$ roscore
```
**Terminal-2**
```
$ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200
```
**Terminal-3**
```
$ sudo rfcomm listen /dev/rfcomm0 1
```
Windows 10 Launch TeraTerm on PC side and connect to RFCOMM to RaspberryPi.
**Terminal-4**
```
$ rosrun zumo32u4 zumo32u4.py
```
**Terminal-5**
```
$ cd ~/catkin_ws
$ source install_isolated/setup.bash
$ roslaunch cartographer_ros backpack_2d.launch
```
### **Perform work with Ubuntu16.04**
**Terminal-1**
```
$ cd ~/catkin_ws
$ catkin_make_isolated --install --use-ninja
$ source install_isolated/setup.bash
$ export ROS_MASTER_URI=http://raspberrypi.local:11311/
$ roslaunch cartographer_ros backpack_2d.launch
```
## ◆ Zumo32u4 operation key mapping
Connect from Windows 10 PC to Raspberry Pi with TeraTerm.
And, you can control by the following key operation.
