6. Creating a Map

Juan Miguel Jimeno edited this page Aug 5, 2018 · 5 revisions

6.1 Launch SLAM app

On the robot’s computer, open 2 new terminals.

Run bringup.launch:

roslaunch linorobot bringup.launch

Run slam.launch:

roslaunch linorobot slam.launch

6.2 Drive around and map

On your development computer, open 2 new terminals.

Run teleop_twist_keyboard:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Run rviz:

roscd lino_visualize/rviz
rviz -d slam.rviz

Using teleop_twist_keyboard, drive the robot around the area you want to map.

Screenshot from 2016-03-05 23:50:02

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

Screen Shot 2016-03-06 at 11.46.14 AM

7. Autonomous Navigation

At this point, your robot is ready to navigate autonomously. Please proceed to autonomous navigation page.

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