Skip to content


Switch branches/tags

Name already in use

A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Are you sure you want to create this branch?

Latest commit


Git stats


Failed to load latest commit information.
Latest commit message
Commit time


indoor_bot is simple differential drive robot for indoor environments simulated using GazeboSim and ROS. Currently, it simulates a 2D-LiDAR sensor, an IMU and a simple camera as gazebo plugins.

This package includes some demos explaining use of this package for SLAM and Localization.


GazeboSim Cartographer-SLAM
GazeboSim RViz

Autonomous exploration for SLAM

GazeboSim Autonomous-SLAM
GazeboSim RViz

Localization and Navigation

Gazebo Rviz
GazeboSimLocalizationAMCL RVizLocalizationAMCL


This package was developed for ROS-melodic. But should be compatible for other versions of ROS1.

  1. Install ROS:

  2. Install the packages by executing the following commands in your terminal:

    source /opt/ros/melodic/setup.bash
    sudo apt-get install ros-${ROS_DISTRO}-gazebo-*
    sudo apt-get install ros-${ROS_DISTRO}-navigation
    sudo apt-get install ros-${ROS_DISTRO}-joint-state-*
    sudo apt-get install ros-${ROS_DISTRO}-visualization-msgs
    sudo apt-get install ros-${ROS_DISTRO}-cartographer-*
    sudo apt install ros-${ROS_DISTRO}-multirobot-map-merge 
    sudo apt install ros-${ROS_DISTRO}-explore-lite
    sudo apt-get install ros-${ROS_DISTRO}-teleop-twist-keyboard
  3. Clone this repo and build the package.

    source /opt/ros/melodic/setup.bash
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone
    cd ~/catkin_ws
    source devel/setup.bash

How to use?


Launch SLAM and Map the environment using teleoperation.

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

roslaunch indoor_bot cartographer_slam_teleop.launch

Instead of manually building the map, you may prefer also try to use RRT-exploration to autonomously map the robot frontier. For more documentation, please refer this page.

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

roslaunch indoor_bot cartographer_slam_rrt_exploration.launch

Once mapping is complete use map-server to save the map. In onother terminal execute the following to save your map:

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

roscd indoor_bot
cd maps
rosrun map_server map_saver -f <robotworldname>

Localization and Navigation

To localize using the map generated from SLAM you can use the following command:

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

roslaunch indoor_bot amcl_localization.launch map_file:=/path/to/map.yaml world_file:=/path/to/


  1. ROS Navigation Stack: link
  2. RRT exploration: link
  3. Cartographer SLAM: link
  4. teleop_twist_keyboard: link