Author: Thomas Peyrucain < >

Maintainer: Jordi Pages < >



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Create a map with gmapping

Description: This tutorial shows how to create a map of the environment using the range-finder on the ARan Base.

Keywords: Mapping, laser scan matching

Tutorial Level: INTERMEDIATE

Next Tutorial: Localization



This tutorial shows how to create a laser map of the environment with the public simulation of ARan Base using gmapping. The map is required to use afterwards AMCL based localization to match laser scans with the map to provide reliable estimates of the robot pose in the map.


First make sure that the tutorials are properly installed along with the ARan Base simulation, as shown in the Tutorials Installation Section.


First of all open two consoles and source ARan Base public simulation workspace in each one

source ./devel/setup.bash

In the first console launch the following simulation

roslaunch pmb3_2dnav_gazebo pmb3_mapping.launch public_sim:=true


Note that a rviz will also show up in order to visualize the mapping process.


In the second console launch the keyboard teleoperation node

rosrun key_teleop


By pressing the arrow keys on this console drive ARan Base around the world. To have a good quality map you could follow close loop trajectories, as show below:


The map being created will be shown. When the world has been fully mapped, as in the below example:


Press 'q' in the key_teleop console and save the map as follows

rosservice call /pal_map_manager/save_map "directory: ''"

The service call will save the map in the following folder


Now ARan Base is ready to do autonomous localization and path planning using the map. See next tutorial on how to make use of maps to perform autonomous navigation.

Wiki: Robots/ARan-base/Tutorials/Navigation/Mapping (last edited 2023-02-09 11:31:06 by thomaspeyrucain)