In this tutorial, we do some SLAM with TurtleBot robot.

1.Before anything, you have to install all packages for gazebo and gmapping and TurtleBot:

2.Launch gazebo and TurtleBot

3. Call the gmapper to read laser scan and build the map:

Only for indigo:

if you got and error, you need to do some hacky stuff and following changes some

comment this line:

and add the following line:

so at the end, your file should look like this:

4.Call the rviz so you can see the map:

5.Move your robot via keyboard or joystick controller:

 

or

or

To make your joystick controller works, you have to hold the "axis_deadman" button. This has been specified in the corresponding launch file. For instance for xbox360 controller edit

you can see, in this file, it has been assigned to 4

 

To see which button on your controller has been assigned to "axis_deadman", run

and press all buttons one by one until you see which button is 4"

now you have to keep pressing that button for sending a command from your controller. You can watch the state of each button by listening to the /joy topic:

Now start adding objects into gazebo scene and start exploring the environment, you should see the map: