/GridBased_FastSLAM_ROS

Using gmapping ROS package to perform FastSLAM algorithm

Primary LanguageMakefile

GridBased_FastSLAM_ROS

Using gmapping ROS package to perform FastSLAM algorithm

to run follow next steps

  1. Clone repository inside your ~/{catkin_workspace}/src git clone https://github.com/AmarYasser/GridBased_FastSLAM_ROS.git

  2. Install the dependencies and build the workspace

cd ~/{catkin_workspace}
source devel/setup.bash
rosdep -i install turtlebot_gazebo
rosdep -i install turtlebot_teleop
rosdep install gmapping
catkin_make
source devel/setup.bash
  1. Launch the needed nodes in seperate shells
  • Gazebo world

roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world

  • Rviz rosrun rviz rviz

You can use the configured .rviz file included /src/Turtlebot_Gmapping.rviz

  • Teleop

    roslaunch turtlebot_teleop keyboard_teleop.launch

  • SLAM

    rosrun gmapping slam_gmapping

  • Map Server rosrun map_server map_saver -f myMap

With the map_server you can load and save maps. Running map_server will generate the map.pgm and the map.yaml files