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generate map automatically in rviz

asked 2020-03-23 09:53:22 -0600

sinou00 gravatar image

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.

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answered 2020-03-24 08:17:57 -0600

Weasfas gravatar image

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.

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Asked: 2020-03-23 09:53:22 -0600

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Last updated: Mar 24 '20