Steps for virtually constructing and updating a map for ROS robots using simultaneous localization and mapping (SLAM) in the Gazebo environment.
The steps below uses ROS melodic 1.14.11 version, which runs on ubuntu 18.04.
Install TurtleBot3 via Debian Packages:
$ sudo apt-get install ros-melodic-dynamixel-sdk
$ sudo apt-get install ros-melodic-turtlebot3-msgs
$ sudo apt-get install ros-melodic-turtlebot3
Set TurtleBot3 Model Name:
Setting the default TURTLEBOT3_MODEL name to the model.
In case of TurtleBot3 Burger:
$ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
In case of TurtleBot3 Waffle Pi:
$ echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
In the following steps, TurtleBot3 Burger will be the model to work on.
The following steps assumes that the user have proper Gazebo version for ROS melodic installed.
The TurtleBot3 Simulation Package requires turtlebot3 and turtlebot3_msgs packages as prerequisite.
$ cd ~/catkin_ws/src/
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make
After building the workspace with catkin_make, source it by running:
source ~/catkin_ws/devel/setup.bash
Three simulation environments are prepared for TurtleBot3: Empty World, TurtleBot3 World, TurtleBot3 House.
In the following steps, TurtleBot3 World will be the environment to work on.
In order to teleoperate the TurtleBot3 with the keyboard, launch the teleoperation node with below command in a new terminal window:
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Launching the Gazebo environment:
$ export TURTLEBOT3_MODEL=burger
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
Operate TurtleBot3 in a new terminal tab:
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Launch Simulation World:
$ export TURTLEBOT3_MODEL=burger
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
In a new terminal tab, run the SLAM node. Gmapping SLAM method is used by default:
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Open a new terminal and run the teleoperation node from the Remote PC:
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
As can be seen, the map is created successfully:
Using the following command, the map is saved in .pgm extension:
rosrun map_server map_saver -f ~/map
