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Mapping an environment with CopernicusDescription: Use of gmapping with 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
- 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>