SLAM with Lidar

1. Overview

Robot SDK has integrated Cartographer for SLAM. For details, please refer to here.

2. Running the demo

Terminal 1: Launch the robot

echo export TURTLEBOT3_MODEL=waffle >> ~/.bashrc
echo export ROS_DOMAIN_ID=30 >> ~/.bashrc
source /opt/robot_devkit/robot_devkit_setup.bash
ros2 launch turtlebot3_bringup robot.launch.py

Note

waffle are real TB3, if you use another robot, you may change this

Terminal 2: Launch teleoperation node

source /opt/robot_devkit/robot_devkit_setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 run turtlebot3_teleop teleop_keyboard

Terminal 3: Run cartographer

source /opt/robot_devkit/robot_devkit_setup.bash
source /opt/ros/dashing/local_setup.bash
ros2 launch turtlebot3_cartographer cartographer.launch.py

Terminal 4: Save the map

source /opt/robot_devkit/robot_devkit_setup.bash
source /opt/ros/dashing/local_setup.bash
ros2 run nav2_map_server map_saver -f ~/map