Backup diff of (TurtleBot3)SLAM(No. 2)

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[[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]].


** Run [#i6d2d2bc]

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

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.

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
#ref(TurtleBot3SlamUbuntu.png)

Windows side
#ref(TurtleBot3SlamWindows.png)

Backup diff of (TurtleBot3)SLAM (No. 2)