Tutorial using ROS for ver.3

Execute SLAM (Gmapping) with TurtleBot3

This example performs SLAM (Gmapping) using a Laser Distance Sensor.

For the specifications of Laser Distance Sensor, please refer to here.
See here for an explanation of Gmapping.

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu side startup procedure

Open a new terminal and run the following command:

$ roslaunch sigverse_turtlebot3_laser_distance_sensor slam.launch 

Windows startup procedure

Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/LaserDistanceSensor(.unity)] scene with reference to here.

Run

You can control TurtleBot3 by keyboard operation on the teleop_key terminal.

If you move TurtleBot3, you can see that the map is creating on RViz.

* Check the terminal for details of the operation.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side

TurtleBot3SlamUbuntu.png

Windows side

TurtleBot3SlamWindows.png

Reference Video


Attach file: fileTurtleBot3SlamWindows.png 67 download [Information] fileTurtleBot3SlamUbuntu.png 85 download [Information]

Front page   Edit Freeze Diff Backup Upload Copy Rename Reload   New List of pages Search Recent changes   Help   RSS of recent changes
Last-modified: 2020-02-04 (Tue) 15:24:47 (124d)