- Create a Workspace using below command:
mkdir your_ws
- Download the git repo and rename it as src.
- Copy or Cut this src folder to the created workspace.
- To build packages return to the your_ws and run the below command:
catkin_make
- Copy Paste the below lines to avoid sourcing and exporting model again and again.
echo "export TURTLEBOT3_MODEL=waffle" echo "source ~/your_ws/devel/setup.bash"
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launch the file using below command:
roslaunch turtlebot3_gazebo tb3_view_path.launch
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You can see Gazebo and Rviz in the Display, buy publishing the given pose to /move_base_simple/goal, we can see the path generated from starting point to end point and we can give a simple goal using rviz and see different path for different Goals.
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For now I used default setting for global planner which uses a_star, we can change and play with different algorithm.
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launch the file using below command:
roslaunch turtlebot3_slam tb3_auto_mapping.launch
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You can give a goal using the pink arrow in rviz and map the env.
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To save the map go the the map_folder and run:
rosrun map_server map_saver -f map_name
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To view the saved map:
rosrun map_server map_server map_name.yaml
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Go to rivz and select the map_topic and we can see the map.
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I have used Gmapping, with using gmapping its like dual test, you map as well as check the odom with gmapping.
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We can use Hector SLAM as well as for simple and faster mapping needs, as it relays only on lidar data.