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gmapping_ros's Introduction

gmapping_ROS

Implementation of gmapping ROS package which is based on Grid-based FastSLAM algorithm to map the environment.

Steps to launch simulation

Step 1. Create a catkin workspace

Skip this step if you already have a workspace

$ mkdir -p /home/workspace/catkin_ws/src/gmapping_ROS
$ cd catkin_ws/src/gmapping_ROS
$ catkin_init_workspace
$ cd ../..
$ catkin_make

Step 2. Perform a system update

$ apt-get update

Step 3. Clone the package in src

$ cd /home/workspace/catkin_ws/src/gmapping_ROS
$ git clone https://github.com/proneetsharma/gmapping_ROS.git

Step 4. Install Dependencies

$ rosdep -i install turtlebot_gazebo
$ rosdep -i install turtlebot_teleop

Step 5. Build and source your workspace

$ cd .. 
$ catkin_make
$ source devel/setup.zsh

Step 6. Launch the nodes

$ ./launch.sh

Now, see Gazebo and rviz launching.

In the terminal, use teleop operation and drive the robot around. It will create a map of the environment in Rviz!

gmapping_ros's People

Contributors

proneetsharma avatar

Watchers

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