Backup diff of (TurtleBot3)SLAM(No. 6)

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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/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.

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

Backup diff of (TurtleBot3)SLAM (No. 6)