ROS Programming: Building Powerful Robots

Running hector SLAM using a robotic car

After moving the robot around the world, let's do some mapping of the world. There are launch files present to start a new world in Gazebo and start mapping. Here is the command to start a new world in Gazebo:

    $ roslaunch catvehicle catvehicle_canyonview.launch

This will launch the Gazebo simulation in a new world. You can enter the following command to view Gazebo:

    $ gzclient

The Gazebo simulator with a new world is shown here:

Figure 34: Visualization of a robotic car in an urban environment

You can start the teleoperation node to move the robot, and the following command will start the hector SLAM: ...