Learning Robotics using Python - Second Edition

Creating a map using SLAM

In this section, we will learn how to create a map of our environment using SLAM. First, however, there are several commands that we have to use to start mapping. You should execute each command in each Linux terminal.

First, we have to start our simulation using the following command:

    $ roslaunch chefbot_gazebo chefbot_hotel_world.launch  

Next, we have to start the keyboard teleoperation node in a new terminal. This will help us move the robot manually using the keyboard:

    $ roslaunch chefbot_gazebo keyboard_teleop.launch  

The next command starts the SLAM in a new terminal:

    $ roslaunch chefbot_gazebo gmapping_demo.launch  

Now the mapping will begin. To visualize the mapping process, we can start Rviz with the ...