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## for a custom note with links:
## note =
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## note.0=[[turtlebot_simulator/Tutorials/hydro/Explore the Gazebo world|Explore the Gazebo world]]
## descriptive title for the tutorial
## title = Make a map and navigate with it
## multi-line description to be displayed in search 
## description = Use the navigation stack to create a map of the Gazebo world and start navigation based on it.
## the next tutorial description (optional)
## next =
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## level= IntermediateCategory
## keywords = simulation, gazebo, map building, navigation
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Overview ==

In this tutorial we will create a map of a virtual world and then use it to navigate around. Basically we will reproduce [[http://wiki.ros.osuosl.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM|build a map]] and [[http://wiki.ros.osuosl.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map|navigate a map]] !TurtleBot tutorials in a simulated world. So if you have doubts about using the navigation stack with !TurtleBot those tutorials will probably help you.

== Make a map ==

First, bring up the TurtleBot simulation as described in the [[turtlebot_simulator#Quick Start|Quick Start Guide]], but this time we will load a slightly funnier world:

{{{
$ source /opt/ros/hydro/setup.bash
$ roslaunch turtlebot_gazebo turtlebot_playground.launch
}}}

The playground world with a !TurtleBot2 looks like this:

{{attachment:turtlebot_playground.png||width=760}}

{{{#!wiki tip
'''Tip: '''
of course you can also make your own world! With Gazebo it's not difficult, but is beyond the scope of this tutorial.
}}}

You can customize your simulated !TurtleBot by setting TURTLEBOT_XXX environment variables; for example:

{{{
$ export TURTLEBOT_BASE=create
$ export TURTLEBOT_STACKS=circles
$ export TURTLEBOT_3D_SENSOR=asus_xtion_pro
$ roslaunch turtlebot_gazebo turtlebot_playground.launch
}}}

will simulate a !TurtleBot 1 with an Asus Xtion Pro camera.

{{{#!wiki caution
'''Caution: '''
Gazebo plugins for Create and Roomba bases don't work perfectly on Hydro, so expect strange behaviors when using them.
}}}


To start map building, type:

{{{
roslaunch turtlebot_gazebo gmapping_demo.launch
}}}


Use RViz to visualize the map building process:

{{{
$ roslaunch turtlebot_rviz_launchers view_navigation.launch
}}}


Then, as explained in the [[turtlebot_simulator/Tutorials/hydro/Explore the Gazebo world|previous tutorial]], use your favorite teleoperation tool to drive the TurtleBot around the world, until you get satisfied with your map. This capture shows the mapping process after turning 360 degrees.

{{attachment:turtlebot_playground_rviz.png||width=760}}

Finally, save the map to disk:

{{{
$ rosrun map_server map_saver -f <your map name>
}}}


== Navigate the playground ==

To be sure that all will run as expected, kill all you launched in the previous section and repeat all steps except the map building. Instead, type:

{{{
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map file>
}}}

Or if you prefer to use an already created map, just omit the map_file argument.

Now you can send the robot anywhere in the playground with RViz, same way as explained on [[http://wiki.ros.osuosl.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map|navigate a map]] tutorial.


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