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SLAM with ROS2

asked 2022-03-02 08:08:32 -0500

Martin_H gravatar image

Dear Community!! I am currently working on a project with a RPI4 and a LIDAR Scanner RPLidar A1M8-R5. The operating system is Ubuntu Mate and I currently use ROS2 Foxy. At this point, I can display the data from the LIDAR in RVIZ2 under the topic /scan with the type sensor_msgs/msg/LaserScan. Now my question is how can I create a map from this data with NAV2 or SLAM_toolbox and what steps I need to do to create this map. Unfortunately at the moment I can't find any tutorial which I can use.

Thanks in advance for your answers!!

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You can learn a lot by reading code and packages from others - this one is a nice example of using SLAM (with: Gmapping, Slam_toolbox, Cartographer used)

ljaniec gravatar image ljaniec  ( 2022-03-03 05:19:58 -0500 )edit

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answered 2022-03-02 18:21:47 -0500

I guess the best way to start would be to follow Nav2 tutorials or see how it is done on other robots. In short, you need to provide odometry, tf transformations, and then launch the navigation stack (see Nav2 bringup directory).

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Thanks for the reply, I will check the things you send over! Thanks and have a nice day!

Martin_H gravatar image Martin_H  ( 2022-03-03 01:13:02 -0500 )edit

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Last updated: Mar 02