SLAM Simulation
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Gmapping SLAM method is used by default.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ rosrun map_server map_saver -f ~/map
The saved map.pgm file
Read more about How to SLAM with multiple TurtleBot3
Read more about How to SLAM with multiple TurtleBot3In order to create a map with multiple robots, multirobot-map-merge package is required.
Follow the instructions below instead of Launching Simulation World section of this page to operate multiple TurtleBot3.
- Install necessary package
$ sudo apt-get install ros-kinetic-multirobot-map-merge - Load multiple TurtleBot3 in TurtleBot3 House.
These loaded turtlebot3s are set initial position and orientation.$ roslaunch turtlebot3_gazebo multi_turtlebot3.launch
- Launch SLAM for each TurtleBot3
$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map $ ROS_NAMESPACE=tb3_2 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_2/base_footprint set_odom_frame:=tb3_2/odom set_map_frame:=tb3_2/map - Merge map data from each TurtleBot3
$ roslaunch turtlebot3_gazebo multi_map_merge.launch - Launch RViz
$ rosrun rviz rviz -d `rospack find turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz - Operate each TurtleBot3
$ ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key $ ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key $ ROS_NAMESPACE=tb3_2 rosrun turtlebot3_teleop turtlebot3_teleop_key
- Save the Map
$ rosrun map_server map_saver -f ~/map
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Gmapping SLAM method is used by default.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ rosrun map_server map_saver -f ~/map
The saved map.pgm file
Read more about How to SLAM with multiple TurtleBot3
Read more about How to SLAM with multiple TurtleBot3In order to create a map with multiple robots, multirobot-map-merge package is required.
Follow the instructions below instead of Launching Simulation World section of this page to operate multiple TurtleBot3.
- Install necessary package
$ sudo apt-get install ros-melodic-multirobot-map-merge - Load multiple TurtleBot3 in TurtleBot3 House.
These loaded turtlebot3s are set initial position and orientation.$ roslaunch turtlebot3_gazebo multi_turtlebot3.launch - Launch SLAM for each TurtleBot3
$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_0/base_footprint set_odom_frame:=tb3_0/odom set_map_frame:=tb3_0/map $ ROS_NAMESPACE=tb3_1 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_1/base_footprint set_odom_frame:=tb3_1/odom set_map_frame:=tb3_1/map $ ROS_NAMESPACE=tb3_2 roslaunch turtlebot3_slam turtlebot3_gmapping.launch set_base_frame:=tb3_2/base_footprint set_odom_frame:=tb3_2/odom set_map_frame:=tb3_2/map - Merge map data from each TurtleBot3
$ roslaunch turtlebot3_gazebo multi_map_merge.launch - Launch RViz
$ rosrun rviz rviz -d `rospack find turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz - Operate each TurtleBot3
$ ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key $ ROS_NAMESPACE=tb3_1 rosrun turtlebot3_teleop turtlebot3_teleop_key $ ROS_NAMESPACE=tb3_2 rosrun turtlebot3_teleop turtlebot3_teleop_key - Save the Map
$ rosrun map_server map_saver -f ~/map
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Gmapping SLAM method is used by default.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ rosrun map_server map_saver -f ~/map
The saved map.pgm file
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Cartographer SLAM method is used by default.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
$ export TURTLEBOT3_MODEL=burger
$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ ros2 run nav2_map_server map_saver -f ~/map
The saved map.pgm file
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Cartographer SLAM method is used by default.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
$ export TURTLEBOT3_MODEL=burger
$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ ros2 run nav2_map_server map_saver_cli -f ~/map
The saved map.pgm file
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch Simulation World
Three Gazebo environments are prepared, but for creating a map with SLAM, it is recommended to use either TurtleBot3 World or TurtleBot3 House.
Use one of the following commands to load the Gazebo environment.
In this instruction, TurtleBot3 World will be used.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
Read more about How to load TurtleBot3 House
Read more about How to load TurtleBot3 House$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Run SLAM Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the SLAM node. Cartographer SLAM method is used by default.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
Run Teleoperation Node
Open a new terminal from Remote PC with Ctrl + Alt + T and run the teleoperation node from the Remote PC.
$ export TURTLEBOT3_MODEL=burger
$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit
Save Map
When the map is created successfully, open a new terminal from Remote PC with Ctrl + Alt + T and save the map.
$ ros2 run nav2_map_server map_saver_cli -f ~/map
The saved map.pgm file
When SLAM in Gazebo simulator, you can select or create various environments and robot models in virtual world. Other than preparing simulation environment instead of bringing up the robot, SLAM Simulation is pretty similar to that of SLAM with the actual TurtleBot3.
The following instructions require prerequisites from the previous sections, so please review to the Simulation section first.
Launch SLAM Simulation
If you are running ROS1 Noetic, please replace melodic with noetic in the command below.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
> c:\opt\ros\melodic\x64\setup.bat
> c:\ws\turtlebot3\devel\setup.bat
> set TURTLEBOT3_MODEL=waffle
> curl -o turtlebot3_demo.launch https://raw.githubusercontent.com/ms-iot/ROSOnWindows/master/docs/Turtlebot/turtlebot3_demo.launch
> roslaunch turtlebot3_demo.launch
After a few moments, you will see Gazebo running a simulated world with your simulated TurtleBot3, RViz running the mapping progress, and a simulation node to drive the TurtleBot3 random walking.
