Now we can perform mapping and localization of the simulated robot. Mapping is done using the ROS gmapping package, which is based on the Simultaneous Localization and Mapping (SLAM) algorithm, and localization is done using the amcl Adaptive Monte Carlo Localization (AMCL) package, which has an implementation of the AMCL algorithm.
In this section, we will launch a new simulated world and see how to map and localize in the world.
Mapping
Here is the command to start the simulated world that has our robot:
$ roslaunch chefbot_gazebo chefbot_hotel_world.launch
This will launch the world as shown in the following screenshot. The environment is similar to a hotel conference room with tables placed in it:
Figure 13: ...
