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Mapping an environment with Copernicus

Description: Use of gmapping with Copernicus

Keywords: Copernicus

Tutorial Level: INTERMEDIATE

Next Tutorial: Running AMCL with Copernicus

The following tutorial illustrates the use of gmapping with Copernicus.

To learn more about move_base, gmapping and the navigation stack, refer to the Navigation tutorials.


  • Once the gazebo world is launched and the Copernicus robot is loaded into the simulation environment, the mapping node can be launched by running:
  • $ roslaunch copernicus_navigation navigation.launch gmapping:=true
  • This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
  • $ rosrun rviz rviz
  • You can then open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool Copernicus_Tutorial2

  • In order to control the robot, launch the teleoperation node by running:
  • $ roslaunch copernicus_teleoperator teleoperator.launch keyboard:=true
  • As the rorbot moves, a grey static map will grow.
  • Once the mapping of the entire environment is completed, the map can be saved by running:
  • $ roslaunch map_server map_saver –f <filename>

Wiki: Robots/Copernicus/Tutorials/Mapping an environment with Copernicus (last edited 2020-06-26 10:45:22 by Botsync)