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Navigation not update map

asked 2021-12-03 04:07:02 -0500

alanotmt gravatar image

updated 2022-02-13 17:10:43 -0500

lucasw gravatar image

When i using this commend

roslaunch turtlebot3_slam turtlebot3_slam.launch

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moving the robot will update the map

but i using this commend

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

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i change the base_scan to my laser, but i don't know why still here The robot move to the target , map not update Anyone can tall what i am missing?

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By reading documentation for SLAM launcher and for navigation launcher you can see, that only the first one launches SLAM. Second one only navigates TB3 on the map. As I understood, you want to have SLAM and navigation at the same time, right?

ljaniec gravatar image ljaniec  ( 2021-12-03 05:05:48 -0500 )edit

very close, but I mean when the robot turns around and the lidar will follow the robot turns. The lidar will not match the map. However, thank for your help

alanotmt gravatar image alanotmt  ( 2021-12-05 19:40:42 -0500 )edit

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answered 2021-12-03 05:56:43 -0500

Dragonslayer gravatar image

SLAM is mapping here. And navigation is localization within a known (static) map. It does what it should do. You could take a look at slam_toolbox its an alternative to gmapping (used in your turlebot example), with many more features. It can expand/refine the map in multiple sessions, though I dont know if it can be done during localization.

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Thank you for your the detail. I found my real problem is the robot moves in real, but the robot model is static and the direction keep from the north.

alanotmt gravatar image alanotmt  ( 2021-12-05 19:54:53 -0500 )edit

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Asked: 2021-12-03 04:07:02 -0500

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Last updated: Dec 03 '21