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Mapping with Robotino
Description: Explains how to build a map with Robotino using gmappingTutorial Level: BEGINNER
Contents
Process
Launch robotino_node
If the robotino_node hasn't been launched already, then launch it as follows:
roslaunch robotino_node robotino_node.launch
Launch robotino_teleop
If you would like to control Robotino using a joystick, run the following command:
roslaunch robotino_teleop joystick_teleop.launch
If you would like to control Robotino using a keyboard, run the following command:
roslaunch robotino_teleop keyboard_teleop.launch
Launch gmapping
The launch file also launches rviz with a pre-defined configuration
roslaunch robotino_navigation gmapping.launch
rviz should look similar to the image below:
Build the map
Build the map of environment, by moving Robotino around using the joystick or keyboard.
Save the map
Once you're satisfied with the map built, save it as follows:
rosrun map_server map_saver -f /tmp/mymap
Done!
You have successfully built a map and you may now kill all the running nodes by pressing Ctrl+C.
