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Robot Operating System Cookbook by Kumar Bipin

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Map

In this section, we will learn how to use the simulated mobile robot to create a map of the virtual world in Gazebo, save it, and load it again. However, getting a useful map can be a complicated task if we are not using appropriate tools. After all, ROS has a tool named map_server (http://wiki.ros.org/map_server) that can help us build a map of the environment by using odometry and a planer range sensor such as a sensor.

First of all, we will create a .launch file in chapter7_tutorials/launch with the name gazebo_mapping_robot.launch and add the following code:

<?xml version="1.0"?><launch><!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic --><param name="/use_sim_time" ...

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