[[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]]. ** 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. If you want to finish, stop the Unity side and then the ROS side. Ubuntu side #ref(TurtleBot3SlamUbuntu.png) Windows side #ref(TurtleBot3SlamWindows.png)