/slam_ws

slam and path planning based on ROS infrastructure

Primary LanguageMakefile

Launch the robot in simulation 

roslaunch turtlebot3_gazebo turtlebot3_world.launch

Ros package : https://github.com/ROBOTIS-GIT/turtlebot3_simulations

Description: turtlebot3 robot models to simulate in gazebo and test slam and navigation packages.

Launch the SLAM eg. Gmapping to map the area/room and save the map.  

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Launch the teleop node to move robot from key board. 

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

( joystick also can be used, puspoe is to map the area and save this map )

Save the map after making full map of given room 

rosrun map_server map_saver -f ~/map

Launch the navigation node, to move the robot with path planning autonomously 

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