diff --git a/source/version_two/location/guide/doc.md b/source/version_two/location/guide/doc.md index e150cc9..98773a7 100644 --- a/source/version_two/location/guide/doc.md +++ b/source/version_two/location/guide/doc.md @@ -254,9 +254,14 @@ Channel -> 0 1. 录制轨迹 -打开桌面文件夹定位循迹，点击开始循迹 +打开桌面 定位循迹 文件夹，首次使用时文件如下图，双击打开后点击 trust and launch，程序第一次打开后会重命名 -![](imgs/location-1.png) +![](imgs/location-9.png) + +![](imgs/location-10.png) + + +点击 **开始循迹** 程序打开RVIZ后，可以看到界面中显示了黄色的 AP1 模型代表 AP1，红色的点为前置激光雷达数据，黄色的点为后置激光雷达数据，紫色的路线为录制的轨迹。 @@ -309,6 +314,10 @@ Channel -> 0 [>>常见问题](/usedoc/navigationKit2/common/q_a/doc3) + +*** + + ## 补充知识 #### 恢复出厂配置 diff --git a/source/version_two/location/guide/imgs/location-1.png b/source/version_two/location/guide/imgs/location-1.png index 069c91f..6dc8977 100644 Binary files a/source/version_two/location/guide/imgs/location-1.png and b/source/version_two/location/guide/imgs/location-1.png differ diff --git a/source/version_two/location/guide/imgs/location-10.png b/source/version_two/location/guide/imgs/location-10.png new file mode 100644 index 0000000..3d161c3 Binary files /dev/null and b/source/version_two/location/guide/imgs/location-10.png differ diff --git a/source/version_two/location/guide/imgs/location-9.png b/source/version_two/location/guide/imgs/location-9.png new file mode 100644 index 0000000..b763a97 Binary files /dev/null and b/source/version_two/location/guide/imgs/location-9.png differ diff --git a/source/version_two/user_guide/quick_start/imgs/slam-1.png b/source/version_two/user_guide/quick_start/imgs/slam-1.png index 666b724..92c251b 100644 Binary files a/source/version_two/user_guide/quick_start/imgs/slam-1.png and b/source/version_two/user_guide/quick_start/imgs/slam-1.png differ diff --git a/source/version_two/user_guide/quick_start/imgs/slam-2.png b/source/version_two/user_guide/quick_start/imgs/slam-2.png index bfe6152..e96ae87 100644 Binary files a/source/version_two/user_guide/quick_start/imgs/slam-2.png and b/source/version_two/user_guide/quick_start/imgs/slam-2.png differ diff --git a/source/version_two/user_guide/quick_start/imgs/slam-8.png b/source/version_two/user_guide/quick_start/imgs/slam-8.png new file mode 100644 index 0000000..b8d17df Binary files /dev/null and b/source/version_two/user_guide/quick_start/imgs/slam-8.png differ diff --git a/source/version_two/user_guide/quick_start/imgs/slam-9.png b/source/version_two/user_guide/quick_start/imgs/slam-9.png new file mode 100644 index 0000000..08d56f8 Binary files /dev/null and b/source/version_two/user_guide/quick_start/imgs/slam-9.png differ diff --git a/source/version_two/user_guide/quick_start/slam_doc.md b/source/version_two/user_guide/quick_start/slam_doc.md index efded23..4c8d2f1 100644 --- a/source/version_two/user_guide/quick_start/slam_doc.md +++ b/source/version_two/user_guide/quick_start/slam_doc.md @@ -21,17 +21,18 @@ 1. 将 AP1 控制模式切换到上位机控制，打开急停开关，确保急停开关没有被按下 2. 禁用工控机无线功能 在建图过程中，如果工控机连接了无线网络，当AP1走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。 -3. 进入桌面【SLAM建图导航】文件夹 +3. 进入桌面 SLAM建图导航 文件夹，首次使用时文件如下图，双击打开后点击 trust and launch，程序第一次打开后会重命名。 + + ![](imgs/slam-8.png) + + ![](imgs/slam-9.png) -![](imgs/slam-1.png) #### 1. 点击【开始建图】 RVIZ工具打开，能够看到地图中的 AP1。 - - 键盘数字键【1/2】线速度增加/减少，数字键【3/4】角速度增加/减少，数字键【9】启用，数字键【0】禁用。 使用键盘的上下左右控制 AP1 行走，边走边建图，可以看到环境地图随着 AP1 的行走不断被构建更新。