Build a map with SLAM

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Turtlebot

get package for navigation

$ cs ~/catkin_ws/src 
$ git clone https://github.com/hutslib/robucup_nav_tutorial.git
$ cd ~/catkin_ws
$ catkin_make

check if your have a Turtlebot navigation package

$ roscd turtlebot_navigation 

if not, do the following line

$ git clone https://github.com/turtlebot/turtlebot_apps.git

build a map

start ros

$ roscore

open a new terminal and bringup turtlebot, you can follow the steps in Bringup your robot

$ roslaunch robot_bringup start_turtle.launch

open a new terminal

$ roslaunch robocup_nav_tutorial map_setup.launch

use keyboard "u i o j k l m , . " to control your robot and mapping your arena.after finish mapping you need to save your map

$rosrun map_server map_saver -f /home/usrname/catkin_ws/src/robucup_nav_tutorial/launch/maps/<your_map_name>

Then your can shutdown all the terminals.