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How to use slam toolbox?

asked 2021-05-04 02:28:25 -0500

JonyK gravatar image

I've seen the introduction of slam toolbox, but have no idea what exactly tools it has(launch files or nodes), how to use them, what input do I need to give, and what their output is.

I think this has a great relationship with my lack of understanding of SLAM

But I still want to ask if there is a more detailed document so that I can use the slam toolbox with the only understanding of the input and output

Thanks in advance

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answered 2021-05-04 14:25:06 -0500

My recommendation would be to look at the Nav2_Bringup SLAM example which demonstrates the basic use of the slam_toolbox on a turtlebot3 robot, and includes typical configuration values.

The github link you included also contains quite a bit of the information you are looking for, if you scroll down to the API section. Consider the inputs to be the Subscribed Topics and the Configuration Parameters.

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Thanks a lot. But I have no physical turtlebot3 robot. Can this run with a simulated robot?

JonyK gravatar image JonyK  ( 2021-05-05 02:19:08 -0500 )edit

Yes, if you look at the nav2_bringup package on github you'll get a bit more information on running navigation2 in simulation.

if memory serves, it will be something to the effect of:

ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True

shonigmann gravatar image shonigmann  ( 2021-05-05 11:08:52 -0500 )edit

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Asked: 2021-05-04 02:28:25 -0500

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Last updated: May 04