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hello, I have a code that allow turtlebot to go to a specific points in a map . i want to generate a map in rviz while the robot go to this points in my gazebo world that i created. i am beginner in ros kinetic can you please explain me how to do that? thank you in advance for youre response.
Hi @sinou00,
The problem you proposed is basically what SLAM approaches try to solve. The Simultaneous Localization and Mapping problem tries to generate a map of the environment while localizating yourself in it. There are multiple ways to do this, but as a first attemp I should recommend to read about gmapping package.
The only thing you will need for gmapping to work is a proper tf tree (that I assume you have since you are using a turtlebot) and a sensor producing LaserScan reads. With this you should be able to launch a gmapping node that will convert the laser reading in a occupancy_grid that you will be able to save with the map_server package.
Maybe this tutorial helps you with this tasks.
Asked: 2020-03-23 09:53:22 -0600
Seen: 940 times
Last updated: Mar 24 '20
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