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6. Creating a Map
6.1 Launch SLAM app
On the robot’s computer, open 2 new terminals.
roslaunch linorobot bringup.launch
roslaunch linorobot slam.launch
6.2 Drive around and map
On your development computer, open 2 new terminals.
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roscd lino_visualize/rviz rviz -d slam.rviz
Using teleop_twist_keyboard, drive the robot around the area you want to map.
6.3 Saving the map
Once you are done mapping save the map by running map_server on the robot's computer:
rosrun map_server map_saver -f ~/linorobot_ws/src/linorobot/maps/map
Check if map.pgm and map.yaml has been saved:
roscd linorobot/maps ls -a map.pgm map.yaml
7. Autonomous Navigation
At this point, your robot is ready to navigate autonomously. Please proceed to autonomous navigation page.