## page was renamed from turtlebot/Tutorials/Build a map with SLAM
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## title = SLAM Map Building with TurtleBot
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## description = How to generate a map using gmapping
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>


This assumes that you have a !TurtleBot which has already been brought up in the  [[turtlebot_bringup/Tutorials|turtlebot bringup tutorials]]. The default navigation parameters provided on [[turtlebot_navigation]] should be apropriate in most cases, but if not, take a look at the [[turtlebot_navigation/Tutorials/Setup the Navigation Stack for TurtleBot|setup navigation tutorial]].

If you are using a '''Create''' base, then performance will be greatly enhanced by accurate calibration, refer to the [[turtlebot_calibration/Tutorials/Calibrate Odometry and Gyro|TurtleBot Odometry and Gyro Calibration]] tutorial. Note that the '''Kobuki''' has a factory calibrated gyro inside and shouldn't need extra calibration.

== Launch the gmapping app ==

=== On the TurtleBot ===
 * Bring up the robot
 {{{
roslaunch turtlebot_bringup minimal.launch
}}}
 * Run the gmapping demo app
 {{{
roslaunch turtlebot_navigation gmapping_demo.launch
}}}

=== On your Workstation ===

This assumes you have ROS on your workstation and ROS_MASTER_URI has been set to point to your turtlebot. Please read [[turtlebot/Tutorials|Workstation Installation]] and [[turtlebot/Tutorials|Network configuration]] before this.
 * Launch rviz:
{{{
# Pre-Groovy
rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg
# Groovy or later
roslaunch turtlebot_rviz_launchers view_navigation.launch
}}}

=== On the TurtleBot ===

Drive the robot around by either:
 * Using telop (keyboard, joystick, or other) from [[turtlebot_teleop/Tutorials| Teleoperation Tutorials]]
 * If you are having troubles making a map check out this [[http://answers.ros.org/question/2871/trouble-getting-an-accurate-map-with-turtlebot|question]].
 * Save the map to file: 
{{{
rosrun map_server map_saver -f /tmp/my_map
}}} 
'''Note:''' Do not close the gmapping launch until saving the map. 

== Video of process ==
In rviz it will look something like this:

<<Youtube(fljcaI4MDfA)>>

To see the map updates on `RViz` as you drive the robot around, under Map on the left hand side panel, check to see that Topic is set to '''map''', in addition to setting your `ROS_MASTER_URI` to the `Turtlebot`.

== What Next? ==

 * [[turtlebot_navigation/Tutorials/Autonomously navigate in a known map|Autonomous Navigation of a Known Map with TurtleBot]] or return to [[Robots/TurtleBot | TurtleBot main page]].

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