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[[Tutorial using ROS for ver.3]]

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

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 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.
~* 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)

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)