Mapping

[cmurray3]

These are the "noetic" instructions for the materials in Chapters 9 and 10 of the textbook.

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1. BUILD A MAP:

• Start Gazebo

  export TURTLEBOT3_MODEL=burger
  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  

• Start the SLAM server

  export TURTLEBOT3_MODEL=burger
  roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
  

• Navigate using keyboard

  export TURTLEBOT3_MODEL=burger
  roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
  

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2. SAVE MAP:

rosrun map_server map_saver -f ~/map

eog ~/map.pgm

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3. NAVIGATE:

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml