Note : This instruction was tested on
Ubuntu 16.04 and
ROS Kinetic Kame.
Warning : Make sure to run the [Bringup][#bringup] instruction before performing SLAM.
Tip : It is recommended to use a joystick pad instead of the keyboard for easier control.
The Simultaneous Localization and Mapping, or SLAM, is a technique to draw a map by estimating current location in an arbitrary space.
The SLAM is a well-known feature of TurtleBot from its predecessors. The video here shows you how accurately TurtleBot3 can draw a map with its compact and affordable platform.
- Date: 2016.11.29
- Robot: TurtleBot3 Burger
- Sensor: Laser Distance Sensor
- Packages: Gmapping / Cartographer
- Place: ROBOTIS Labs & HQ, 15th-floor corridor
- Duration: 55 minutes
- Distance: Total 351 meters
- Date: 2017.04.20
- Robot: TurtleBot3 Burger and Waffle
- Sensor: 360 Laser Distance Sensor LDS-01
- Packages: Gmapping
- Place: ROBOTIS HQ Education Room
- Duration: About 4 minutes
- Distance: Total 15 meters
Tip : The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for terminal is Ctrl-Alt-T.
[Remote PC] Open a new terminal and launch the SLAM file. If you have TurtleBot3 Burger,
export TURTLEBOT3_MODEL=burger roslaunch turtlebot3_slam turtlebot3_slam.launch
If you have TurtleBot3 Waffle,
export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_slam turtlebot3_slam.launch
[Remote PC] Visualize the model in 3D with RViz.
rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
[Remote PC] Teleoperation with Keyboard
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
[Remote PC] Open a new terminal and run the map saver node.
rosrun map_server map_saver -f ~/map
map.pgm and map.yaml files will be created in the
~/ directory (``$HOME