[[Tutorial using ROS for ver.3]]

* Executing SLAM (Gmapping) with TurtleBot3 [#i221ef46]
* Execute SLAM (Gmapping) with TurtleBot3 [#i221ef46]

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

For the specifications of Laser Distance Sensor, please refer to [[here>http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/#appendix-lds01]]. ~
See [[here>http://wiki.ros.org/gmapping]] for an explanation of Gmapping.


** Startup Procedure [#w320c61e]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#i234a113]

Open a new terminal and run the following command:
 $ roslaunch sigverse_turtlebot3_laser_distance_sensor slam.launch 


*** Windows startup procedure [#q350a952]

Start the [Assets/SIGVerse/SampleScenes/Turtlebot3/LaserDistanceSensor(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/LaserDistanceSensor(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].


** Run [#i6d2d2bc]

You can operate TurtleBot3 by key operation on the terminal named teleop_key on Ubuntu side.
You can control TurtleBot3 by keyboard operation on the teleop_key terminal.

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

* Check the terminal display for details of the operation method. [#f03012c3]
~ * Check the terminal for details of the operation.
~* Because of the high image processing load, the robot's camera image transmission interval is set to 1000 [ms].  ~
(If you want to shorten the sending interval, please reduce the Sending Interval of the ZEDMiniPubCameraImageController attached to turtlebot3_with_open_manipulator/RosBridgeScripts)

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


Ubuntu side
Ubuntu side (The details may differ from the latest version)
#ref(TurtleBot3SlamUbuntu.png)

Windows side
Windows side (The details may differ from the latest version)
#ref(TurtleBot3SlamWindows.png)


----
''Reference Video'' 
#youtube(RmfAUb1ytM4)


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