SLAM
SLAM using gmapping with TurtleBot robot and Gazbo
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:
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sudo apt-get install ros-kinetic-gmapping ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-teleop ros-kinetic-turtlebot-rviz-launchers |
2.Launch gazebo and TurtleBot
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roslaunch turtlebot_gazebo turtlebot_world.launch |
3. Call the gmapper to read laser scan and build the map:
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roslaunch turtlebot_gazebo gmapping_demo.launch |
Only for indigo: if you got and error, you need to do some hacky stuff …
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