Basic 2-D mapping using ROS

• gmapping package, which provides laser-based SLAM is used for mapping.
• A 2-wheel differential drive robot with laser scanner mounted on the top is used to map the Willow garage world.
• The robot is controlled through keyboard using arrow keys.

Pre-requisites installation:

• $ sudo apt-get install ros-melodic-navigation

• $ sudo apt-get install ros-melodic-gmapping

Usage:

1. Nagivate to the src folder of your catkin workspace and execute:

• $ git clone https://github.com/harshkc03/pkg_2d_nav_robot.git
• $ cd ../
• $ catkin_make

2. Run the following commands in given order in different terminals:

• $ roslaunch pkg_2d_nav_robot diff_wheeled_gazebo_full.launch

• $ roslaunch pkg_2d_nav_robot gmapping.launch

3. Launch RViz:

• $ rviz

• Go to Add --> By topic --> under /map select Map and click Ok

• Again, go to Add --> By display type --> RobotModel and click Ok

4. Play with your robot !

• $ roslaunch pkg_2d_nav_robot keyboard_teleop.launch

5. To save your map, execute:

• $ rosrun map_server map_saver -f my_map

Here, my_map is the name of the save file and will be saved in your Home directory

Note: If you get an error like:

Then source your setup.bash file like:

• $ source ~/workshop/devel/setup.bash

Or alternatively, add the above line at the end of your .bashrc file