Learning Robotics using Python - Second Edition

Working with SLAM on ROS to build a map of the room

To perform gmapping, we have to execute the following commands.

The following command starts the robot driver in the ChefBot terminal:

    $ roslaunch ChefBot_bringup robot_standalone.launch  

The following command starts the gmapping process. Note that it should be executed on the ChefBot terminal:

    $ roslaunch ChefBot_bringup gmapping_demo.launch  

Gmapping will only work if the odometry value that is received is proper. If the odometry value is received from the robot, we will receive the following message for the preceding command. If we get this message, we can confirm that gmapping will work fine:

ChefBot with PointCloud data

To start the keyboard teleoperation, use the following command: ...