RoboND-SLAMLab

In this lab, you’ll implement a gmapping ROS package which is based on the Grid-based FastSLAM algorithm to map an environment.

Steps to launch the simulation

Launch the simulation in the VM machine provided in Term1.

Step 1 Create a catkin workspace

Skipt this step if you already have a workspace

$ mkdir -p /home/workspace/catkin_ws/src
$ cd catkin_ws/src/
$ catkin_init_workspace
$ cd ..
$ catkin_make

Step 2 Perform a system update/upgrade

$ apt-get update
$ apt-get upgrade -y

Step 3 Clone the package in src

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/udacity/RoboND-SLAMLab

Step 4 Build and source your workspace

$ cd ..
$ catkin_make
$ source devel/setup.bash

Step 5 Launch the nodes

$ cd src/RoboND-SLAMLab
$ ./SLAM.sh

Now, you should see Gazebo and rviz launching.

End Result

In the terminal, use the keyboard commands(u-i-o-j-k-l-m-,-.) and drive the robot around. You'll see a map of the environment in Rviz!