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Creating a mapDescription: This tutorials shows how to build a map in a new environment
Tutorial Level: INTERMEDIATE
- 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
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.