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Creating a map

Description: This tutorials shows how to build a map in a new environment

Tutorial Level: INTERMEDIATE

Contents

  1. Prerequisists
  2. Start the mapping process
  3. Safe map

Prerequisists

  • Prepare environment to be "robot capable" (no chairs, ...)

  • Start up the bringup layer, see cob_bringup.

Note: The origin of the map will be where you initialise the base.

Start the mapping process

roslaunch cob_mapping_slam 2dslam.launch
  • drive around with joystick
  • keep dynamic obstacles (people) out of front scan
  • while driving let the front scan see wide parts of the already created map

Safe map

To safe the map run 

rosrun map_server map_saver

in a new terminal while the mapping process is still running. Otherwise your map will be lost. Then copy map.yaml and map.pgm to your scenario or environment package.

Wiki: cob_mapping_slam/Tutorials/Creating a map (last edited 2012-06-12 09:38:16 by FlorianMirus)

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